🧪 Multi-Robot Warehouse Navigation

A fleet of automated robots works a shelf-lined warehouse floor: pick tasks arrive at random stations along one edge and must reach a drop-off station along the other. Every task is assigned to the true-nearest idle robot by real breadth-first-search distance over the rack layout, every robot finds its own route with time-expanded A* search, and a shared reservation table stops any two robots from occupying the same cell — or swapping cells head-on — at the same tick. Tune the fleet size and the task arrival rate to see how assignment, routing and congestion together set the system's real throughput in completed tasks per minute.