[nathanww]

What we found is that for our robot there were a fairly small number of "optimum" paths--go directly to our outpost, go directly to our fueling station, go the the middle of the field, etc., and a lot of "suboptimal" paths that we could use to get to the same position if the optimal path was blocked. SInce it would be hard to determine a suboptimal path ahead of time, we used a combination of a three-position switch(for our optimal) and a bug algorythm(for our suboptimal)