Mutex groups, dynamic charging, and more

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New features

• Mutex Groups: Now lanes and vertices can be assigned to a "mutex group". Before a robot can begin using a lane or vertex that belongs to a mutex group, the robot must lock the mutex group for itself. A mutex group can only be locked for one robot at a time. This allows graphs to be designed with improved traffic flow in cases where a system integrator can anticipate clutter.
• Localization Hook: The EasyFullControl API now has a hook that will trigger a localization request whenever the robot has arrived at a new floor after taking the lift.
• Dynamic Charging: You can dynamically update which chargers each robot should use while idle (or provide a location for them to park). There is also a charger schedule node that lets you pass in a schedule configuration (.yaml) and will automatically send out charger updates according to the schedule.
• Lift Properties: The fleet adapter is now aware of lift properties (name, location, shape) and can communicate those lift properties to the client-side.
• Door Properties: The fleet adapter is now aware of door properties and can communicate those properties to the client-side

Improved Behaviors / Fixes

• Lift usage behavior is improved
  • Robots now set the horizon of their traffic schedule to be the point where they begin waiting for a lift session to begin
  • While using a lift, robots are stubborn, i.e. they will not participate in negotiations, forcing other agents to give way to them
  • Following replans while using a lift, the adapter will reliably determine if the lift session must remain locked or should be release
• "Finishing tasks" (e.g. returning to charger) will now be immediately canceled when a new task request comes in instead of needing to finish.
• Doors will be opened or released reliably as needed after a replan occurs
• Task bidding calculations are done outside of the main worker loop so that task auctions no longer have a risk of slowing down normal operations