This repository contains the python code necessary to reproduce the numerical results in the paper "Shortest Paths in Graphs of Convex Sets" by Tobia Marcucci, Jack Umenberger, Pablo A. Parrilo, and Russ Tedrake. Optimization problems are solved using Drake as an interface to the solver Mosek (free for academic use). A mature high-performance implementation of the shortest-path algorithm from the paper is under development in Drake's main project.
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