removed some of the test programs that don't need to be compiled
Merge branch 'master' of https://github.com/utexas-bwi/bwi_experimental into jivko_branch
add a new task for taking guiding requests from human
multi-thread enabled
Passed tests in simulation
randomized room selection, added timeout to deal with people who leave without notice
Merge branch 'master' of https://github.com/utexas-bwi/bwi_experimental into jivko_branch