...M.A.R.T. (Smart Movement Across Random Terrain) system. That said, if they provide a decent single-player / co-op game; they must...

...Generally this improves responsiveness, but sometimes the agents move to wrong direction for a moment.
- During movement the agents will replan their paths if...

...Generally this improves responsiveness, but sometimes the agents move to wrong direction for a moment.
- During movement the agents will replan their paths if...

...In theory you could use it to create NPCs or even player movement. It will also keep track if new path should be queried...

...What actually does a movement request mean?
Example of nasty case
Here's a simple example which emphasizes one of the problems with replanning...

...Steering velocity is passed for the local avoidance to not to produce velocity which will collide with others, after the final movement a collision...

...Most of the difficult cases arise from game rules which feed from player actions, and thus are hard to estimate or give cost.
*) But...