First try at threadpools -- we might need to rethink the approach; I don't know how we can do this without having local variables inside the inside runnable classes.
Refactored some things to enable us to reuse code.
Fixes some synchronization and import issues
Fixes map serialization
Merge branch 'master' of github.com:rss-2014-team-6/rss-team-6-localization

Conflicts:
	src/main/java/localization/Localization.java
Adds isClosed method to PolygonObstacle