M_ind=10*grid_size# Big M relative to grid indices
M_cts=10*max(max(robot_locations[:,0])-min(robot_locations[:,0]),max(robot_locations[:,1])-min(robot_locations[:,1]))# Big M relative to robot locations
foriinrange(N):
forjinrange(i+1,N):
foriinrange(num_robots):
forjinrange(i+1,num_robots):
# At least one of the two constraints below must be true