This looks super cool, Ive been working in a similar space for some time. I work with open-rmf which is semi-decentralized and provides tools for task and traffic deconfliction (we don't handle the network layer at all). Excited to see more similar software coming up.

One question I have is how quickly can discovery and switching take place. For instance, if I have a robot enter a lift. Can the lift detect the robots entrance and trigger its behaviours?