Hi, I ended up using boost's graph and astar implementation in the end (not enough time to implement my own, although I'd like to as a programming challenge). However, I seem to be having troubles with my robot's movement towards a specified point. This is more than likely and issue with my own math...
Ah, I think I can see how to do it. Within the CForagingLoopFunctions::PreStep() function I could do something like the following: Obtain data from individual robots Pass data to central controller Analyse data in central controller Return robots' actions after analysis Is that what you were suggest...