Also, if you could provide the code, or even a build, with your changes so everyone interested could try it out, that would be highly appreciated.
For me, there are two problems with PandAI. The first is that the graph is inherently 2 dimensional, which is OK for some games, but just doesn’t cut it for others, and the second is that it takes complete control over the agents – moving them instead of just providing a vector to the next position (or just returning a set of way points).