Ants Path Planning

System Behavior: Ants build minimum spanning trees that connect nests to food.
Responsibilities:
1. Avoid obstacles
2. Wander randomly, or towards the general direction of nearby pheromones if any.
3. If holding food, drop pheromone at constant rate.
4. If food and not holding any then pick it up.
5. If at nest and holding food then drop it.
Integration: The ants will find the food because of the random walk. The pheromones trail lead to/from a food source. The initial path will not be straight but, since the ants wander a bit, some of them will find shortcuts. Because pheromone paths have some breadth, they tend to merge together into a trace that becomes straighter the more its used.