Robot Allocator st_astar planning instead of single astar

[Elucidation]

Right now when the robot allocator creates jobs, it uses astar for pathfinding, which assumes each robot is completely independent of the other (ie. no collisions with other robots).

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).
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?