question about how nonconvex variables are handled

[Jushan-Randy-Chen]

Hi,

Before I start using this package, I'd like to know if it is possible for me to apply the solver on a non-convex trajectory planning problem where the non-convex set comes from the collision avoidance constraints (or costs) between any 2 agents? I am trying to find the fastest solver that I can use to solve trajectory planning problems in a receding horizon fashion, but using general-purpose nonlinear solvers such as IPOPT is way too slow when the number of agents is merely 2 or 3, which becomes intractable beyond 3 agents (each agent is modelled as a point mass..) . So any help is greatly appreciated!