This project is about robot exploration using Lidar point cloud and incrementally construct an abstraction for high level control.
IRIS from MIT Tedrake's group https://github.com/rdeits/iris-distro
Installation is a bit tricky, if you install with python 2, you need to add YOUR_IRIS_DIR/build/install/lib/python3.X/dist-packages to your python path where 3.X is your python3 version.
IRIS also need other prerequisites such as Mosek, check the manual on git for instructions.
OSQP Check https://osqp.org/docs/interfaces/python.html
Pycddlib Check https://pypi.org/project/pycddlib/
TuLip Check https://github.com/tulip-control/tulip-control