Migrate from TravisCI to Github Actions

[ThePumpingLemma]

Problem Statement
TravisCI is becoming increasingly slow and we need to migrate off of travis-ci.org regardless (see https://docs.travis-ci.com/user/migrate/open-source-repository-migration), so may as well take it a step further and move to Github Actions instead.

Describe the solution you'd like
Build and badges should be migrated over to Github Actions

Describe alternatives you've considered
CircleCI is another alternative, but opted to keep everything on Github for simplicity.

Additional context
N/A