Integrate real-time safety verification

[evan-palmer]

Checklist

• I have performed a thorough review of my code
• I have sufficiently commented my code
• The implementation follows the project style conventions
• All project unit tests are passing
• If necessary, documentation has been provided or updated to discuss the changes
• System integration tests are performed successfully
• Any new dependencies have been added to the requirements list
• Any changes that will not be completed or bugs that have been introduced have been added as issues

Changes Made

This PR implements real-time safety verification (collision prevention) using reachability analysis. The result of this is that users can execute multi-agent missions with safety verification enabled.

Associated Issues

• Closes [FEATURE]: Implement real-time position-based safety verification for missions #82

Files Changes

• pymavswarm/mavswarm.py: Implemented user-facing methods that can be used to enable/disable collision avoidance. Additionally, added support for collision responses.
• pymavswarm/safety/interval.py: Implemented a hyperrectangle interval for safety usage
• pymavswarm/safety/hyperrectangle.py: Implemented a reachable state polytope and helper methods to enable reachable state computation
• pymavswarm/safety/safety_checker.py: Implemented an interface for computing the reachable state of agents
• examples/collision_prevention_no_flight.py: Implemented an example that demonstrates multi-agent collision avoidance without flying agents into each other
• examples/collision_prevention.py: Implemented an example that demonstrates multi-agent collision avoidance during flight
• pymavswarm/state/*: Removed default values for constructors
• pymavswarm/agent.py: Updated agent to provide default values to state

Testing

Two testing approaches have been integrated to verify the correctness of the collision avoidance system:

1. Implemented unit tests that verify that the system properly detects collisions and computes the correct reachable state
2. Deployed the collision avoidance system in a field test to evaluate the ability of the system to handle collisions

Issues Introduced

N/A