diff --git a/examples/Swerve/src/Main.cpp b/examples/Swerve/src/Main.cpp
index 750f18fb..39368d73 100644
--- a/examples/Swerve/src/Main.cpp
+++ b/examples/Swerve/src/Main.cpp
@@ -5,7 +5,6 @@
 #include <numbers>
 #include <vector>
 
-#include <trajopt/IncompatibleTrajectoryException.h>
 #include <trajopt/OptimalTrajectoryGenerator.h>
 #include <trajopt/constraint/Constraint.h>
 #include <trajopt/constraint/TranslationConstraint.h>
diff --git a/include/trajopt/IncompatibleTrajectoryException.h b/include/trajopt/IncompatibleTrajectoryException.h
deleted file mode 100644
index 9e439aef..00000000
--- a/include/trajopt/IncompatibleTrajectoryException.h
+++ /dev/null
@@ -1,34 +0,0 @@
-// Copyright (c) TrajoptLib contributors
-
-#pragma once
-
-#include <stdexcept>
-#include <string>
-
-#include "trajopt/SymbolExports.h"
-
-namespace trajopt {
-
-/**
- * Incompatible trajectory exception.
- */
-class TRAJOPT_DLLEXPORT IncompatibleTrajectoryException
-    : public std::logic_error {
- public:
-  /**
-   * Construct a new IncompatibleTrajectoryException object with a string
-   * message
-   *
-   * @param message the message
-   */
-  explicit IncompatibleTrajectoryException(const std::string& message);
-
-  /**
-   * Construct a new IncompatibleTrajectoryException object with a string
-   * message
-   *
-   * @param message the message
-   */
-  explicit IncompatibleTrajectoryException(const char* message);
-};
-}  // namespace trajopt
diff --git a/include/trajopt/InvalidPathException.h b/include/trajopt/InvalidPathException.h
deleted file mode 100644
index f1e8af46..00000000
--- a/include/trajopt/InvalidPathException.h
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright (c) TrajoptLib contributors
-
-#pragma once
-
-#include <stdexcept>
-#include <string>
-
-#include "trajopt/SymbolExports.h"
-
-namespace trajopt {
-
-/**
- * @brief This exception is thrown when an invalid path is used with a
- * trajectory generator.
- */
-class TRAJOPT_DLLEXPORT InvalidPathException : public std::logic_error {
- public:
-  /**
-   * @brief Construct a new InvalidPathException object with a string message
-   *
-   * @param message the message
-   */
-  explicit InvalidPathException(const std::string& message);
-
-  /**
-   * @brief Construct a new InvalidPathException object with a string message
-   *
-   * @param message the message
-   */
-  explicit InvalidPathException(const char* message);
-};
-}  // namespace trajopt
diff --git a/java/src/main/java/org/sleipnirgroup/trajopt/InvalidPathException.java b/java/src/main/java/org/sleipnirgroup/trajopt/InvalidPathException.java
deleted file mode 100644
index a7a5b685..00000000
--- a/java/src/main/java/org/sleipnirgroup/trajopt/InvalidPathException.java
+++ /dev/null
@@ -1,9 +0,0 @@
-// Copyright (c) TrajoptLib contributors
-
-package org.sleipnirgroup.trajopt;
-
-public class InvalidPathException extends Exception {
-    public InvalidPathException(String message) {
-        super(message);
-    }
-}
diff --git a/java/src/main/java/org/sleipnirgroup/trajopt/OptimalTrajectoryGenerator.java b/java/src/main/java/org/sleipnirgroup/trajopt/OptimalTrajectoryGenerator.java
index 7acbcdb6..014fda2b 100644
--- a/java/src/main/java/org/sleipnirgroup/trajopt/OptimalTrajectoryGenerator.java
+++ b/java/src/main/java/org/sleipnirgroup/trajopt/OptimalTrajectoryGenerator.java
@@ -8,10 +8,10 @@
 
 public final class OptimalTrajectoryGenerator {
     private native HolonomicTrajectory generateHolonomicTrajectory(SwerveDrivetrain swerveDrivetrain,
-            HolonomicPath holonomicPath) throws InvalidPathException, TrajectoryGenerationException;
+            HolonomicPath holonomicPath) throws TrajectoryGenerationException;
 
     public static HolonomicTrajectory generate(SwerveDrivetrain swerveDrivetrain, HolonomicPath holonomicPath)
-            throws NullPointerException, InvalidPathException, PluginLoadException, TrajectoryGenerationException {
+            throws NullPointerException, PluginLoadException, TrajectoryGenerationException {
         PluginLoader.loadPlugin();
         return new OptimalTrajectoryGenerator().generateHolonomicTrajectory(
                 Objects.requireNonNull(swerveDrivetrain, "Holonomic Trajectory Generator swerve drivetrain cannot be null"),
diff --git a/jni/TrajoptLibJNI.cpp b/jni/TrajoptLibJNI.cpp
index 1a3cad44..8644b7b9 100644
--- a/jni/TrajoptLibJNI.cpp
+++ b/jni/TrajoptLibJNI.cpp
@@ -7,7 +7,6 @@
 
 #include "jni.h"
 #include "org_sleipnirgroup_trajopt_OptimalTrajectoryGenerator.h"
-#include "trajopt/InvalidPathException.h"
 #include "trajopt/OptimalTrajectoryGenerator.h"
 #include "trajopt/TrajectoryGenerationException.h"
 #include "trajopt/constraint/AngularVelocityConstraint.h"
@@ -459,10 +458,6 @@ Java_org_sleipnirgroup_trajopt_OptimalTrajectoryGenerator_generateHolonomicTraje
     auto solution = OptimalTrajectoryGenerator::Generate(path);
     auto trajectory = HolonomicTrajectory(solution);
     return jHolonomicTrajectoryFromHolonomicTrajectory(env, trajectory);
-  } catch (const InvalidPathException& e) {
-    jclass jInvalidPathExceptionClass =
-        env->FindClass("org/sleipnirgroup/trajopt/InvalidPathException");
-    env->ThrowNew(jInvalidPathExceptionClass, e.what());
     return nullptr;
   } catch (const TrajectoryGenerationException& e) {
     jclass jTrajectoryGenerationExceptionClass = env->FindClass(
diff --git a/src/IncompatibleTrajectoryException.cpp b/src/IncompatibleTrajectoryException.cpp
deleted file mode 100644
index b8a80f4c..00000000
--- a/src/IncompatibleTrajectoryException.cpp
+++ /dev/null
@@ -1,14 +0,0 @@
-// Copyright (c) TrajoptLib contributors
-
-#include "trajopt/IncompatibleTrajectoryException.h"
-
-namespace trajopt {
-
-IncompatibleTrajectoryException::IncompatibleTrajectoryException(
-    const std::string& message)
-    : std::logic_error(message) {}
-
-IncompatibleTrajectoryException::IncompatibleTrajectoryException(
-    const char* message)
-    : std::logic_error(message) {}
-}  // namespace trajopt
diff --git a/src/InvalidPathException.cpp b/src/InvalidPathException.cpp
deleted file mode 100644
index a837424a..00000000
--- a/src/InvalidPathException.cpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// Copyright (c) TrajoptLib contributors
-
-#include "trajopt/InvalidPathException.h"
-
-namespace trajopt {
-
-InvalidPathException::InvalidPathException(const std::string& message)
-    : std::logic_error(message) {}
-
-InvalidPathException::InvalidPathException(const char* message)
-    : std::logic_error(message) {}
-}  // namespace trajopt
diff --git a/src/OptimalTrajectoryGenerator.cpp b/src/OptimalTrajectoryGenerator.cpp
index aa47fc64..ba3ce070 100644
--- a/src/OptimalTrajectoryGenerator.cpp
+++ b/src/OptimalTrajectoryGenerator.cpp
@@ -12,7 +12,6 @@
 #define _OPTI_BACKEND SleipnirExpr, SleipnirOpti
 #endif
 #include "DebugOptions.h"
-#include "trajopt/InvalidPathException.h"
 #include "trajopt/drivetrain/SwerveDrivetrain.h"
 #include "optimization/algorithms/SwerveDiscreteOptimal.h"
 #include "trajopt/solution/SwerveSolution.h"