Filter robot positions

[NFiedler]

We should filter the positions of robots. Maybe in multiple Kalman filters with one filter for each robot.

Is your feature request related to a problem? Please describe.

We need to keep clear of obstacles in the pathfinding https://github.com/bit-bots/bitbots_navigation/pull/105 https://github.com/bit-bots/bitbots_navigation/issues/78

Describe the solution you'd like

Multiple robots should be filtered.

Describe alternatives you've considered

The behavior of particle filters is a bit unpredictable for multiple targets and saving obstacles for x seconds has unwanted konsequences.