BLAST constructs a time-optimal and safe (shortest) path using safe convex sets from a set of waypoints, while considering the dynamics of the system. The shortest path is represented by B-Splines; time optimality is achieved by utilizing an SOCP introduced by Verscheure et al.. BLAST is a biconvex optimization scheme, which optimizes the shortest path and the time optimality iteratively.
For local installation a virtual environment like uv is highly recommended.
After installing uv type
uv pip install -e . --group dev && pre-commit install
This will install the developer dependencies and initialize pre-commit hook. For executing unit tests you can rely on nox:
nox -s tests
Checkout the pyproject.toml file for further dependencies and the general project settings.