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
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