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what is used to help bots navigate?
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That could be anything
If the bots are using waypoints they just aim and walk to that waypoint and will walk to other, connected, waypoints to reach his goal.
They could use 'TraceLine' navigation, a TraceLine is used to determine if there is some obstacle between 2 points, that way a bot can 'see' if there are any obstacles and try to avoid them. They(tracelines) can also be used to determine which point is the 'most reachable'(furthest obstacle seen from bot) and go that place, that way they can walk in hallways and such.
And finally you could use mapdata, basicly what I do is putting waypoints on all valid(reachable and such) cube's in a map(Cube has a simple 2d grid for map data). So in my case its more waypoint navigation without the need that someone should create it by their self.
I guess PMB can tell more about his navmesh stuff