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Section 4 explains the lookahead framework of x264 which was used as a basis for our implementation of the macroblocktree algorithm.
An additional option in our maze solver is to either use per-pixel target locations with N pixels of lookahead, or to use connected segments where all pixels with the same target path are grouped into the same target location (since our maze is axis-aligned and structured in horizontal and vertical corridors).
A number of heuristics are developed to enable competent play and achieve a level of efficiency where 12 turns of lookahead are deemed feasible on a medium tier laptop computer without noticeable wait.
The proportional term stems from the combination of the current lateral error of from the path (em) and the lookahead error (Xla ΔΨ ).