Strategic Team AI Path Plans: Probabilistic Pathfinding

Algorithm 2

Path QualityPathPlanForWholeTeam () {

     Path pathOfWholeTeamSoFar = null;

     While (TeamPathPlanNotComplete ()) {

      pathOfWholeTeamSoFar + =

   ProbabilisticPathForOne (pathOfWholeTeamSoFar);

   }

    Return pathOfWholeTeamSoFar;

}

 Path ProbabilisticPathForOne (Path

 pathOfWholeTeamSoFar) {

        Path currentMemberPath = null;

        Path temp = null;

        do {

           currentMemberPath += selectANextNode ();

            do {

                temp = pathOfWholeTeamSoFar +

 currentMemberPath.selectADifferentNode ();

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

   } while

 (currentMemberPath.SearchNotComplete ())

   return currentMemberPath;

}