Fix Cognitive Coordinated #195
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Right now it does nothing with the vertices received from other robots. This fixes that by using vertex ids instead of vertex objects. This uncovered a bug where it tried to start from the nearest waypoint causing pathfinding from and to the same waypoint, which is not in the dictionary of paths causing an exception.
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henneboy
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Jan 27, 2025
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Use the global patrolling map, so the robots know about the real idleness of all vertices.
Create a coordinator to coordinate which vertices robots occupy to avoid going to the same vertex.
Clean up the code in many places, to make it nicer on the slides.