Path optimizer for autonomous lawn mower/ computational geometry -- 2

A program reads certain inputs and generates an optimal path for a set of autonomous lawn mowers to mow a given region. Optimization of the path is driven by a score which is a simple sum of 3 subscores, which themselves are linear functions of time necessary, energy necessary, and undesired turns. The region is specified as a polygon perimeter with exclusion zones. The incline of the region is provided as a set of elevation points within the region (from which inclines can be linearly extrapolated). Numerous other assumptions (number of mowers, etc.) for each generation are provided as key value pairs in the input INI file. A paper about the problem https://www.sciencedirect.com/science/article/pii/S0925772100000158
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