This repository contains code implementing a robotic path planner in a 2D sphere world with obstacles. The sphere world is intilized with 5 starting locations and one goal location. The control paramter for the planner can be generated in 1 of 3 ways: using a potential based planner, using a navigation function, or using a CLF-CBF formulation

The simulation results are contained in the file "output.pdf" Note, the CLF-CBF formulation requires a Quadratic Programming solver. Code is conatined implementing a QP solver using the cvxopt package