Merge pull request #4 from bballtwenty8/dumpster_sense

Merge of working JSON sent over AMQP from dumpster
updated readme
A star implemented, environment state added, heuristics remains, more work on renaming remains
A star implemented (collision protection remains), environment state added, heuristics remains, more work on renaming remains
Restructured util.component.State, added type, logging levels added effective only to iDumpster_central.py
Final Demo commit: some errors faced due to channel sharing for both sending/receiving for truck_program
Merge pull request #6 from bballtwenty8/a_star_module

Beta Demo
Merge with master for beta demo