updated READMEs + bug fix in low-level planner Enhanced CBS to now return correct lower bound after a path has been found + changed 'update_lower_bound' method since f_min can decrease during search process after expanding a state into neighbour states.

updated 'conflicting_single_agent_state' if-case + added Greedy search annotation comments to low-level 'greedy_plan' 'stastar_greedy_planner.py'

implementation greedy CBS (final) + Enhanced CBS + small unharmful change to 'safe_distance' function of original CBS planner needed for the conflicts heuristic implementation.

update README greedy-cbs + change conflicts_heuristic.py to check for one conflict between a state position when calculating an agents new path and other already existing agents paths (from the high-level CTNode solution) + Added comments.

adding comments to and changed variable names in CBS code + README updated + deleting unnecessary 'h' procedure in 'stastar\planner.py'

revert files that should not have been changed to previous commit, removed algorithm CBS with highways because of too many errors in code

Solving rotation problem: in 'plan' procedure of 'stastar' creating a neighbour_state didn't take into account different rotation angles (only multiples of 90°) and this led to a wrong lookup in the true_hueristics datastructure. Problem solved by adding correct intermediary neighbour states for different rotation angles with correct h_scores.

resolved bug robot at goalnode (when leaving goal it remained as being at goal), removed backwards notion from unity visualization and configuration

action/observation size is now the same in all scenes, algorithms have been updated, first revision done of readme