Optical design concept of the CMB-S4 large-aperture telescopes and cameras

CMB-S4 -- the next-generation ground-based cosmic microwave background (CMB) experiment - will significantly advance the sensitivity of CMB measurements and improve our understanding of the origin and evolution of the universe. CMB-S4 will deploy large-aperture telescopes fielding hundreds of thousands of detectors at millimeter wavelengths. We present the baseline optical design concept of the large-aperture CMB-S4 telescopes, which consists of two optical configurations: (i) a new off-axis, three-mirror, free-form anastigmatic design and (ii) the existing coma-corrected crossed-Dragone design. We also present an overview of the optical configuration of the array of silicon optics cameras that will populate the focal plane with 85 diffraction-limited optics tubes covering up to 9 degrees of field of view, up to $1.1 \, \rm mm$ in wavelength. We describe the computational optimization methods that were put in place to implement the families of designs described here and give a brief update on the current status of the design effort.