Implement safety check queue system

[bfaught3]

Implement a queue system that allows agents in the queue to sequentially plan actions to be taken in parallel.

• Module agents are added to the queue in random order (with a random seed shared amongst all agents)
• The agent currently popped from the queue determines the actions it can safely take given the current global map and the "planned global map" determined by the actions planned by the previous agents in the queue
• The agent chooses an action and the "planned global map" is updated accordingly.
• Planning is complete once the queue has been exhausted. During the subsequent action step, all modules move as planned and the result should match the "planned global map"

Output: System that implements the objectives described above.