diff --git a/examples/cli.hpp b/examples/cli.hpp
new file mode 100644
index 0000000..f298f5b
--- /dev/null
+++ b/examples/cli.hpp
@@ -0,0 +1,264 @@
+#pragma once
+
+#include <algorithm>
+#include <charconv>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+#include <system_error>
+
+namespace examples
+{
+namespace cli
+{
+
+inline std::string
+normalize_option( std::string option )
+{
+  if( option.rfind( "--", 0 ) != 0 )
+    return option;
+
+  const auto eq_pos = option.find( '=' );
+  const auto end    = eq_pos == std::string::npos ? option.size() : eq_pos;
+  std::replace( option.begin() + 2, option.begin() + static_cast<std::ptrdiff_t>( end ), '_', '-' );
+  return option;
+}
+
+inline bool
+is_positional( std::string_view arg )
+{
+  return !arg.empty() && arg.front() != '-';
+}
+
+inline int
+parse_int( const std::string& label, const std::string& value )
+{
+  int         result   = 0;
+  const char* begin    = value.data();
+  const char* end      = begin + value.size();
+  const auto [ptr, ec] = std::from_chars( begin, end, result );
+  if( ec != std::errc() || ptr != end )
+    throw std::invalid_argument( "Invalid value for " + label + ": '" + value + "'" );
+  return result;
+}
+
+class ArgParser
+{
+public:
+  ArgParser( int argc, char** argv ) : argc_( argc ), argv_( argv ) {}
+
+  bool
+  empty() const
+  {
+    return index_ >= argc_;
+  }
+
+  std::string_view
+  peek() const
+  {
+    if( empty() )
+      return std::string_view{};
+    return argv_[index_];
+  }
+
+  std::string
+  take()
+  {
+    if( empty() )
+      throw std::out_of_range( "No more arguments to consume" );
+    return std::string( argv_[index_++] );
+  }
+
+  bool
+  consume_flag( std::string_view long_name, std::string_view short_name = {} )
+  {
+    if( empty() )
+      return false;
+
+    std::string current = normalize_option( std::string( peek() ) );
+    if( current == long_name || ( !short_name.empty() && current == short_name ) )
+    {
+      ++index_;
+      return true;
+    }
+    return false;
+  }
+
+  bool
+  consume_option( std::string_view long_name, std::string& value )
+  {
+    if( empty() )
+      return false;
+
+    std::string current = normalize_option( std::string( peek() ) );
+    const std::string prefix = std::string( long_name ) + "=";
+    if( current == long_name )
+    {
+      ++index_;
+      if( empty() )
+        throw std::invalid_argument( "Missing value for option '" + std::string( long_name ) + "'" );
+      value = take();
+      return true;
+    }
+    if( current.rfind( prefix, 0 ) == 0 )
+    {
+      value = current.substr( prefix.size() );
+      ++index_;
+      return true;
+    }
+    return false;
+  }
+
+private:
+  int    argc_  = 0;
+  char** argv_  = nullptr;
+  int    index_ = 1;
+};
+
+} // namespace cli
+} // namespace examples
+
+namespace examples
+{
+namespace cli
+{
+
+struct SolverOptions
+{
+  bool        show_help = false;
+  std::string solver    = "ilqr";
+};
+
+inline SolverOptions
+parse_solver_options( int argc, char** argv, std::string default_solver = "ilqr" )
+{
+  SolverOptions          options;
+  options.solver = std::move( default_solver );
+  ArgParser args( argc, argv );
+
+  while( !args.empty() )
+  {
+    const std::string raw_arg = std::string( args.peek() );
+    if( args.consume_flag( "--help", "-h" ) )
+    {
+      options.show_help = true;
+      continue;
+    }
+
+    std::string value;
+    if( args.consume_option( "--solver", value ) )
+    {
+      options.solver = value;
+      continue;
+    }
+
+    throw std::invalid_argument( "Unknown argument '" + raw_arg + "'" );
+  }
+
+  return options;
+}
+
+struct MultiAgentOptions
+{
+  bool        show_help = false;
+  int         agents    = 10;
+  int         max_outer = 10;
+  std::string solver    = "ilqr";
+  std::string strategy  = "centralized";
+};
+
+inline MultiAgentOptions
+parse_multi_agent_options( int argc, char** argv, MultiAgentOptions defaults = {} )
+{
+  MultiAgentOptions options = std::move( defaults );
+  ArgParser         args( argc, argv );
+  bool              positional_agents = false;
+
+  while( !args.empty() )
+  {
+    const std::string raw_arg = std::string( args.peek() );
+    if( args.consume_flag( "--help", "-h" ) )
+    {
+      options.show_help = true;
+      continue;
+    }
+
+    std::string value;
+    if( args.consume_option( "--agents", value ) )
+    {
+      options.agents = parse_int( "--agents", value );
+      continue;
+    }
+    if( args.consume_option( "--solver", value ) )
+    {
+      options.solver = value;
+      continue;
+    }
+    if( args.consume_option( "--strategy", value ) )
+    {
+      options.strategy = value;
+      continue;
+    }
+    if( args.consume_option( "--max-outer", value ) )
+    {
+      options.max_outer = parse_int( "--max-outer", value );
+      continue;
+    }
+
+    if( is_positional( raw_arg ) && !positional_agents )
+    {
+      args.take();
+      options.agents    = parse_int( "agents", raw_arg );
+      positional_agents = true;
+      continue;
+    }
+
+    throw std::invalid_argument( "Unknown argument '" + raw_arg + "'" );
+  }
+
+  return options;
+}
+
+struct RocketOptions
+{
+  bool        show_help   = false;
+  bool        dump_traces = false;
+  std::string solver      = "osqp";
+};
+
+inline RocketOptions
+parse_rocket_options( int argc, char** argv, RocketOptions defaults = {} )
+{
+  RocketOptions options = std::move( defaults );
+  ArgParser     args( argc, argv );
+
+  while( !args.empty() )
+  {
+    const std::string raw_arg = std::string( args.peek() );
+    if( args.consume_flag( "--help", "-h" ) )
+    {
+      options.show_help = true;
+      continue;
+    }
+    if( args.consume_flag( "--dump" ) )
+    {
+      options.dump_traces = true;
+      continue;
+    }
+
+    std::string value;
+    if( args.consume_option( "--solver", value ) )
+    {
+      options.solver = value;
+      continue;
+    }
+
+    throw std::invalid_argument( "Unknown argument '" + raw_arg + "'" );
+  }
+
+  return options;
+}
+
+} // namespace cli
+} // namespace examples
+
diff --git a/examples/multi_agent_lqr.cpp b/examples/multi_agent_lqr.cpp
index 0cbad8e..3eb251f 100644
--- a/examples/multi_agent_lqr.cpp
+++ b/examples/multi_agent_lqr.cpp
@@ -1,7 +1,5 @@
 #include <algorithm>
-#include <charconv>
 #include <chrono>
-#include <system_error>
 #include <iomanip>
 #include <iostream>
 #include <memory>
@@ -16,6 +14,7 @@
 #include "multi_agent_solver/strategies/strategy.hpp"
 #include "multi_agent_solver/types.hpp"
 
+#include "cli.hpp"
 #include "example_utils.hpp"
 
 /*──────────────── create simple LQR OCP (unchanged) ───────────────*/
@@ -76,97 +75,11 @@ create_linear_lqr_ocp( int n_x, int n_u, double dt, int T )
   return ocp;
 }
 
-struct Options
-{
-  bool        show_help   = false;
-  int         agents      = 10;
-  int         max_outer   = 10;
-  std::string solver      = "ilqr";
-  std::string strategy    = "centralized";
-};
+using Options = examples::cli::MultiAgentOptions;
 
 namespace
 {
 
-int
-parse_int( const std::string& label, const std::string& value )
-{
-  int result = 0;
-  const char* begin = value.data();
-  const char* end   = begin + value.size();
-  const auto   [ptr, ec] = std::from_chars( begin, end, result );
-  if( ec != std::errc() || ptr != end )
-    throw std::invalid_argument( "Invalid value for " + label + ": '" + value + "'" );
-  return result;
-}
-
-Options
-parse_options( int argc, char** argv )
-{
-  Options options;
-  bool    positional_agents = false;
-  for( int i = 1; i < argc; ++i )
-  {
-    std::string arg = argv[i];
-    if( arg.rfind( "--", 0 ) == 0 )
-    {
-      const auto eq_pos = arg.find( '=' );
-      const auto end    = eq_pos == std::string::npos ? arg.size() : eq_pos;
-      std::replace( arg.begin() + 2, arg.begin() + static_cast<std::ptrdiff_t>( end ), '_', '-' );
-    }
-    auto        match_with_value = [&]( const std::string& name, std::string& out ) {
-      const std::string prefix = name + "=";
-      if( arg == name )
-      {
-        if( i + 1 >= argc )
-          throw std::invalid_argument( "Missing value for option '" + name + "'" );
-        out = argv[++i];
-        return true;
-      }
-      if( arg.rfind( prefix, 0 ) == 0 )
-      {
-        out = arg.substr( prefix.size() );
-        return true;
-      }
-      return false;
-    };
-
-    if( arg == "--help" || arg == "-h" )
-    {
-      options.show_help = true;
-      continue;
-    }
-
-    std::string value;
-    if( match_with_value( "--agents", value ) )
-    {
-      options.agents = parse_int( "--agents", value );
-    }
-    else if( match_with_value( "--solver", value ) )
-    {
-      options.solver = value;
-    }
-    else if( match_with_value( "--strategy", value ) )
-    {
-      options.strategy = value;
-    }
-    else if( match_with_value( "--max-outer", value ) )
-    {
-      options.max_outer = parse_int( "--max-outer", value );
-    }
-    else if( !arg.empty() && arg.front() != '-' && !positional_agents )
-    {
-      options.agents      = parse_int( "agents", arg );
-      positional_agents   = true;
-    }
-    else
-    {
-      throw std::invalid_argument( "Unknown argument '" + arg + "'" );
-    }
-  }
-  return options;
-}
-
 void
 print_usage()
 {
@@ -185,7 +98,7 @@ main( int argc, char** argv )
   using namespace mas;
   try
   {
-    const Options options = parse_options( argc, argv );
+    const Options options = examples::cli::parse_multi_agent_options( argc, argv );
     if( options.show_help )
     {
       print_usage();
diff --git a/examples/multi_agent_single_track.cpp b/examples/multi_agent_single_track.cpp
index 3ee9159..32713d8 100644
--- a/examples/multi_agent_single_track.cpp
+++ b/examples/multi_agent_single_track.cpp
@@ -1,16 +1,15 @@
 #include <cmath>
 
 #include <algorithm>
-#include <charconv>
 #include <chrono>
 #include <iomanip>
 #include <iostream>
 #include <memory>
 #include <stdexcept>
 #include <string>
-#include <system_error>
 #include <vector>
 
+#include "cli.hpp"
 #include "example_utils.hpp"
 #include "models/single_track_model.hpp"
 #include "multi_agent_solver/agent.hpp"
@@ -53,97 +52,11 @@ create_single_track_circular_ocp( double initial_theta, double track_radius, dou
   return problem;
 }
 
-struct Options
-{
-  bool        show_help = false;
-  int         agents    = 10;
-  int         max_outer = 10;
-  std::string solver    = "ilqr";
-  std::string strategy  = "centralized";
-};
+using Options = examples::cli::MultiAgentOptions;
 
 namespace
 {
 
-int
-parse_int( const std::string& label, const std::string& value )
-{
-  int         result   = 0;
-  const char* begin    = value.data();
-  const char* end      = begin + value.size();
-  const auto [ptr, ec] = std::from_chars( begin, end, result );
-  if( ec != std::errc() || ptr != end )
-    throw std::invalid_argument( "Invalid value for " + label + ": '" + value + "'" );
-  return result;
-}
-
-Options
-parse_options( int argc, char** argv )
-{
-  Options options;
-  bool    positional_agents = false;
-  for( int i = 1; i < argc; ++i )
-  {
-    std::string arg = argv[i];
-    if( arg.rfind( "--", 0 ) == 0 )
-    {
-      const auto eq_pos = arg.find( '=' );
-      const auto end    = eq_pos == std::string::npos ? arg.size() : eq_pos;
-      std::replace( arg.begin() + 2, arg.begin() + static_cast<std::ptrdiff_t>( end ), '_', '-' );
-    }
-    auto match_with_value = [&]( const std::string& name, std::string& out ) {
-      const std::string prefix = name + "=";
-      if( arg == name )
-      {
-        if( i + 1 >= argc )
-          throw std::invalid_argument( "Missing value for option '" + name + "'" );
-        out = argv[++i];
-        return true;
-      }
-      if( arg.rfind( prefix, 0 ) == 0 )
-      {
-        out = arg.substr( prefix.size() );
-        return true;
-      }
-      return false;
-    };
-
-    if( arg == "--help" || arg == "-h" )
-    {
-      options.show_help = true;
-      continue;
-    }
-
-    std::string value;
-    if( match_with_value( "--agents", value ) )
-    {
-      options.agents = parse_int( "--agents", value );
-    }
-    else if( match_with_value( "--solver", value ) )
-    {
-      options.solver = value;
-    }
-    else if( match_with_value( "--strategy", value ) )
-    {
-      options.strategy = value;
-    }
-    else if( match_with_value( "--max-outer", value ) )
-    {
-      options.max_outer = parse_int( "--max-outer", value );
-    }
-    else if( !arg.empty() && arg.front() != '-' && !positional_agents )
-    {
-      options.agents    = parse_int( "agents", arg );
-      positional_agents = true;
-    }
-    else
-    {
-      throw std::invalid_argument( "Unknown argument '" + arg + "'" );
-    }
-  }
-  return options;
-}
-
 void
 print_usage()
 {
@@ -161,7 +74,7 @@ main( int argc, char** argv )
   using namespace mas;
   try
   {
-    const Options options = parse_options( argc, argv );
+    const Options options = examples::cli::parse_multi_agent_options( argc, argv );
     if( options.show_help )
     {
       print_usage();
diff --git a/examples/pendulum_swing_up.cpp b/examples/pendulum_swing_up.cpp
index 08e9a98..aebb00e 100644
--- a/examples/pendulum_swing_up.cpp
+++ b/examples/pendulum_swing_up.cpp
@@ -6,6 +6,7 @@
 #include <stdexcept>
 #include <string>
 
+#include "cli.hpp"
 #include "example_utils.hpp"
 #include "models/pendulum_model.hpp"
 #include "multi_agent_solver/ocp.hpp"
@@ -88,58 +89,11 @@ create_pendulum_swingup_ocp()
   return problem;
 }
 
-struct Options
-{
-  bool        show_help = false;
-  std::string solver    = "ilqr";
-};
+using Options = examples::cli::SolverOptions;
 
 namespace
 {
 
-Options
-parse_options( int argc, char** argv )
-{
-  Options options;
-  for( int i = 1; i < argc; ++i )
-  {
-    std::string arg              = argv[i];
-    auto        match_with_value = [&]( const std::string& name, std::string& out ) {
-      const std::string prefix = name + "=";
-      if( arg == name )
-      {
-        if( i + 1 >= argc )
-          throw std::invalid_argument( "Missing value for option '" + name + "'" );
-        out = argv[++i];
-        return true;
-      }
-      if( arg.rfind( prefix, 0 ) == 0 )
-      {
-        out = arg.substr( prefix.size() );
-        return true;
-      }
-      return false;
-    };
-
-    if( arg == "--help" || arg == "-h" )
-    {
-      options.show_help = true;
-      continue;
-    }
-
-    std::string value;
-    if( match_with_value( "--solver", value ) )
-    {
-      options.solver = value;
-    }
-    else
-    {
-      throw std::invalid_argument( "Unknown argument '" + arg + "'" );
-    }
-  }
-  return options;
-}
-
 void
 print_usage()
 {
@@ -156,7 +110,7 @@ main( int argc, char** argv )
   using namespace mas;
   try
   {
-    const Options options = parse_options( argc, argv );
+    const Options options = examples::cli::parse_solver_options( argc, argv );
     if( options.show_help )
     {
       print_usage();
diff --git a/examples/rocket_max_altitude.cpp b/examples/rocket_max_altitude.cpp
index d176d05..38a7a94 100644
--- a/examples/rocket_max_altitude.cpp
+++ b/examples/rocket_max_altitude.cpp
@@ -2,6 +2,7 @@
 #include <stdexcept>
 #include <string>
 
+#include "cli.hpp"
 #include "example_utils.hpp"
 #include "models/rocket_model.hpp"
 #include "multi_agent_solver/ocp.hpp"
@@ -113,51 +114,6 @@ create_max_altitude_rocket_ocp()
   return problem;
 }
 
-struct Options
-{
-  bool        show_help   = false;
-  bool        dump_traces = false;
-  std::string solver      = "osqp";
-};
-
-Options
-parse_options( int argc, char** argv )
-{
-  Options options;
-  for( int i = 1; i < argc; ++i )
-  {
-    const std::string arg = argv[i];
-    if( arg == "--help" || arg == "-h" )
-    {
-      options.show_help = true;
-      continue;
-    }
-    if( arg == "--dump" )
-    {
-      options.dump_traces = true;
-      continue;
-    }
-
-    const std::string solver_prefix = "--solver=";
-    if( arg.rfind( solver_prefix, 0 ) == 0 )
-    {
-      options.solver = arg.substr( solver_prefix.size() );
-      continue;
-    }
-
-    if( arg == "--solver" )
-    {
-      if( i + 1 >= argc )
-        throw std::invalid_argument( "Missing value for --solver" );
-      options.solver = argv[++i];
-      continue;
-    }
-
-    throw std::invalid_argument( "Unknown argument '" + arg + "'" );
-  }
-  return options;
-}
-
 void
 print_usage()
 {
@@ -175,7 +131,7 @@ main( int argc, char** argv )
 
   try
   {
-    const Options options = parse_options( argc, argv );
+    const examples::cli::RocketOptions options = examples::cli::parse_rocket_options( argc, argv );
     if( options.show_help )
     {
       print_usage();
diff --git a/examples/single_track_ocp.cpp b/examples/single_track_ocp.cpp
index 43e3168..3b924f4 100644
--- a/examples/single_track_ocp.cpp
+++ b/examples/single_track_ocp.cpp
@@ -4,6 +4,7 @@
 #include <stdexcept>
 #include <string>
 
+#include "cli.hpp"
 #include "example_utils.hpp"
 #include "models/single_track_model.hpp"
 #include "multi_agent_solver/ocp.hpp"
@@ -114,58 +115,11 @@ create_single_track_lane_following_ocp()
   return problem;
 }
 
-struct Options
-{
-  bool        show_help = false;
-  std::string solver    = "ilqr";
-};
+using Options = examples::cli::SolverOptions;
 
 namespace
 {
 
-Options
-parse_options( int argc, char** argv )
-{
-  Options options;
-  for( int i = 1; i < argc; ++i )
-  {
-    std::string arg              = argv[i];
-    auto        match_with_value = [&]( const std::string& name, std::string& out ) {
-      const std::string prefix = name + "=";
-      if( arg == name )
-      {
-        if( i + 1 >= argc )
-          throw std::invalid_argument( "Missing value for option '" + name + "'" );
-        out = argv[++i];
-        return true;
-      }
-      if( arg.rfind( prefix, 0 ) == 0 )
-      {
-        out = arg.substr( prefix.size() );
-        return true;
-      }
-      return false;
-    };
-
-    if( arg == "--help" || arg == "-h" )
-    {
-      options.show_help = true;
-      continue;
-    }
-
-    std::string value;
-    if( match_with_value( "--solver", value ) )
-    {
-      options.solver = value;
-    }
-    else
-    {
-      throw std::invalid_argument( "Unknown argument '" + arg + "'" );
-    }
-  }
-  return options;
-}
-
 void
 print_usage()
 {
@@ -182,7 +136,7 @@ main( int argc, char** argv )
   using namespace mas;
   try
   {
-    const Options options = parse_options( argc, argv );
+    const Options options = examples::cli::parse_solver_options( argc, argv );
     if( options.show_help )
     {
       print_usage();