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Probabilistic Trajectories We associate a probability with each path Instead of a sequence of waypoints, at each step we have a set of possible next waypoints, each with a certain probability Overall we get a weighted tree of waypoints with probabilities as weights Many nodes are stationary which makes the calculation a bit more efficient Though we use the same code, i.e. even fixed positions are regarded as probabilistic trajectories Mules follow probabilistic trajectories through a field of nodes |