Strategic Team AI Path Plans: Probabilistic Pathfinding

Algorithm 1

Path QualityPathPlanForWholeTeam() {

     Path pathOfWholeTeam;

     do {

      pathOfWholeTeam = null;

      While(TeamPathPlanNotComplete()) {

        pathOfWholeTeam + =

           ProbabilisticPathForOne();

        }

     } while(FitnessTest(pathOfWholeTeam)==fail);

     Return pathOfWholeTeam;

  }