As we will see, this is not a chapter focused on a sole subject, but rather a chapter that has its own original recipes and also draws on previous recipes in order to create new or improved techniques.

In this chapter, we will learn different recipes for coordinating different agents as a whole organism, such as formations and techniques that allow us to make tactical decisions based on graphs (such as waypoints) and influence maps. These techniques use different elements from the previous chapters and recipes, especially from graph construction and path-finding algorithms found in Chapter 2, Navigation.