Added CentralisationWrapper Architecture, Centralised MRTA and Decentralised MRTA Algorithms

[Gangdaewon]

Summary

Created feat_cenwrapper branch

Structural Changes

1. CentralisationWrapper Architecture

• Implemented the CentralisationWrapper structure.
• Added corresponding Behavior Tree (BT) XML files defining wrapper-based execution flow.

2. Centralised MRTA Algorithms

Added the following centralised task allocation algorithms:

• SGA
• CenGRAPE
• Hungarian

3. Configuration Setup

Configuration files are located at:
config/cenwrapper

Configurations are separated into:

• static mode
• dynamic mode

This separation explicitly supports:

• Static Test (assignment consistency, stability evaluation)
• Dynamic Test (runtime performance under communication constraints)