Multi-unit tactical pathplanning

The task of pathfinding has received considerable attention in research as well as practice. Most of the approaches focus on minimizing the length of the path as well as optimizing the efficiency of the algorithm. Less attention has been paid to the problem of incorporating rich global conditions that require more than simply reaching a specific location. In this paper, we analyze elements of richer pathplanning problems, propose an enhanced specification format, and provide a first simple mechanism to solve such problems.