Look into scaling MAPF

[Elucidation]

• [ ] WHCA* Windowed Hierarchical https://www.davidsilver.uk/wp-content/uploads/2020/03/coop-path-AIIDE.pdf
• [ ] https://jiaoyangli.me/files/2022-AAAI-1.pdf
• [ ] https://parasollab.web.illinois.edu/research/parallelHierarchical/
• [ ] Consider adding 1-ways to warehouses
• [ ] spatially segregate warehouse areas to their own planner (dmapf)
• [ ] Try some sort of 2-step hierarchical process, parallel A* and then single global CBS resolve
• [ ] Store optimal paths on grid, not just heuristic
• [ ]