fixes in RT instance generator
Renamed EarliestArrivalProblem to TrajectoryCoordinationProblem which is now an umbrella interface for EarliestArrival and RelocationTask Problems.
added new corridor environment, changed visualization etc.
Solver now recognizes parameter -samplinginterval
When the penalty function returns Infinity, the edge remains in the space-time graph.
PenaltyMethod uses random sequence of robots
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