Robot allocator st_astar -> mapf for planning for multiple robots

[Elucidation]

The next step is keep robots from colliding, some options:

1 - For current robot paths, do st_astar for the newest job so the newest robot has to route around all the other robots, if it isn't possible, don't make the job (ie. wait). Finished with #30

2 - Given the current position of all the robots, do a mapf for all of their current job paths, update the current paths of all robots if it is possible, else don't make the job.

3 - When we are able to assign multiple jobs at once, do a hybrid mapf for the new robots around the current ones?