Solving the Spatially-Dependant Reliable Shortest Path Problem (SD-RSPP)

This repository contains project files to solve the SD-RSPP with two methods: a multi-criteria hierarchical A* (SDRSP-HA*) algorithm and a mixed-integer programming (MIP) model using Gurobipy.

• Institution: University of Toronto
• Course: AER1516 - Motion Planning for Robotics with Dr. Jonathan Kelly
• Dates: Winter 2022
• Project Status: Complete

Setup

1. Need to update versions of packages used and

Packages Used

• python - version 3.7.7
• numpy - version 1.19.1
• networkx - version 4.12.0
• matplotlib - version 3.3.1
• gurobi - version 9.0.3
• scipy - version 2.18.200

References

1. Gurobi Optimizer: Gurobi is an industrial mixed-integer programming solver that works with many programming languages including Python. In order to use Gurobi, you need an academic license, which can be found here: https://www.gurobi.com/academia/academic-program-and-licenses/. In addition, you must download the gurobi software from this site or if you use the Anaconda Distribution for Python, you can run the following code:

pip3 install gurobi

Team Members

• Andrew Constantinescu: GitHub
• Vishal Kanna Anand: GitHub
• Sugumar Prabhakaran: GitHub