Library for solving optimization problems over Graphs of Convex Sets (GCS).
Project description
GCSOPT
Python library based on CVXPY to solve optimization problems in Graphs of Convex Sets (GCS). For a detailed description of the algorithms implemented implemented in this library see the PhD thesis Graphs of Convex Sets with Applications to Optimal Control and Motion Planning .
Main features
- Uses the syntax of CVXPY for describing convex sets and convex functions
- Provides a simple intefact for assemblying your graphs
- Interface with state-of-the-art solvers via CVXPY
📦 Installation
You can install the latest release from PyPI:
pip install gcsopt
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