Hierarchical Pathfinding

• Instead of planning at just a fine grain or just a coarse grain,
• you can do both or many grains.
• This balances the advantages of both.
• A coarse grain can make a quick but possibly poor decision.
• A finer grain can do better.
• (Actually, this is the way people do it.)
• You can also combine this with caching.
• You can also combine it with time slicing and background processing.
• So, you can use a range of techniques to search for paths.