This paper discusses  solutions to the problem of the ability of characters in games to move around a game-world in a manner that is realistic and non-predefined. In particular this paper adresses the problem of finding a path once goals have been set. 

Key ideas
 * Locomotion layer - physical constraints placed on a character, this can be independent of the sterring but it is best if the steering takees into account various properties of this system, albeit high level ones.
 * vehicle model - point mass model - gives a desired force to the locomotion layer
 * Steering behaviors - this include seek, flee, pursuit, evasion, flocking, leader following, wall following and many others