Consider alternatives to the tactic selection algorithm

[itsarune]

Description of the task

Currently, our tactic-to-robot assignment uses the Hungarian algorithm which uses a "cost" for assigning a robot to each tactic and tries to minimize the net cost in its assignments. It aims to make sure that the total cost for assigning 1 robot to each tactic is minimized.

In our gameplay stack, tactic assignment occurs AFTER we have selected tactics. This has added some strange complexity to our code. For example, our FSMs must simulate the state machine for every single robot, because we don't know which robot will end up being assigned to this tactic.

We should look into how other teams perform tactic assignment. Can we do it earlier so that tactics don't have to simulate tactics for all robots? This seems to be Tigers Mannheim's approach.

Approach:

1. Look into how other teams do tactic assignment
2. Investigate if it's worth changing our tactic assignment algorithm
3. Update the tactic assignment logic in Play::get

Acceptance criteria

• Research other tactic assignment algorithms
• Replace (if necessary) the Hungarian algorithm
• Migrate the following tests for the new tactic assignment algorithm

Blocked By