The full paper is available at https://arxiv.org/abs/2201.05247

Please install the Gurobi optimizer by following the instructions on the official website https://www.gurobi.com/products/gurobi-optimizer/ You might be eligible for a free academic license https://www.gurobi.com/academia/academic-program-and-licenses/

Then install the following Python packages.

pip install numpy matplotlib pypoman

If you get an error about the gmp.h file when installing pypoman, install the gmp libary. If you are using Ubuntu, run

sudo apt-get install libgmp-dev

Then, rerun the above pip command.

Just run each python script to plan a path and visualize it. For example,

python run_stlcg-1.py