Hello. I'm working on my thesis work and I wanna ask the rest of the good ROS warriors (I have 2 Ubuntu VMs, one running ROS1-Noetic and the other is running ROS2-Galactic and I'm comfortable with both so suggestions are welcome both ways - although I prefer ROS2).

I'm trying to make a system where we have n robots that can transport stuff from a certain point Ai to a certain point Bi (let's assume the points are generated randomly, think of it like an Uber cab getting a call to take pick up a dude and take him to his destination but the taxi can fit only one person) and so the system should choose which robot should go to which object in order to increase efficiency and decrease time of execution and it should be a dynamic system (for example, imagine the robots executing the task and suddenly a request to move another object pops up, the system should assign the task to one of the robots real-time. Anyway I've read papers and the algorithm should solve an MILP optimization problem at one of its steps using a branch-and-cut method. Do you know any Python library that has the functions I need, or does anybody have an idea how to approach it in ROS. Maybe there's a ROS package you guys can recommend or if anybody has ever implemented optimization algorithms in ROS that would like to chat and share some insights, thank you.