doc: update README to cover use of alternate solvers #110
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Purpose
As a follow-up to #106, add more information to the README clarifying when Gurobi does or doesn't need to be installed and how to use Gurobi or other solvers. Also clarifying that a Gurobi license is needed to use Gurobi as a solver, but it can be used equivalently with either a local license or a cloud license.
Time to review
15-30 minutes.