This paper mainly describes the steering layer in what the author calls a
3 layer system that is composed of action selection, steering, and locomotion.
It describes a simple vehicle model that consists of a point mass and orientation
that is used for the paper's description of various steering layer behaviors.
The behaviors described include simple seek, flee, pursuit, evade, obstacle
avoidance, follow, wander, etc.
It generally assumes the vehicle to have a sphere bounding shape and uses
a cylender along the direction for fast collision checking, which is pretty
often used as a quick way for culling large amounts of objects.
It also describes 2 methods of combining behaviors, one being discrete
behavioral switch and the other being blending effectively in parallel.
This paper describes and names some very basic conecpts that has been
used in the game industry for a while.