Receive
Storage
Lab
Incubator
Analyzer
Fridge
Waste
Pharmacy
Nurse Station
Patient Rooms
Sterile
Zone
Zone
Patient Rooms
Waste Area
Sample Pickup
Hospital
Clean Zone
Main Corridor
Contamination
Risk Zone
(No-Go)
Risk Zone
(No-Go)
AI Planner
0 moving, 0 yielding at corridor buffers
Collision envelope clear