Strategic Team AI Path Plans: Probabilistic Pathfinding

Algorithm 3

Path QualityPathPlanForWholeTeam () {

     Path pathOfWholeTeamSoFar = null;

     Path temp = null;

     Path memberPath = null;

     do {

      do {

         memberPath = ProbabilisticPathForOne ();

        temp = pathOfWholeTeamSoFar + memberPath;

      } while (FitnessTest(temp) == fail)

       pathOfWholeTeamSoFar += memberPath;

      } while (TeamPathPlanNotComplete ());

    Return pathOfWholeTeamSoFar;

}