@ pmb, i was speaking in general
Not about bots specific.
I did not try your preview long, i had it on my disk sometime, but as you know i do not test other bots very long at all.
BSP is some sort of waypointed ofcourse, since it uses eventually a 'chain' of information to get to positions (waypoints) to navigate through a map. (As asp said).
Totally unwaypointed is doable i guess, though it also requires some sort of memory system so a bot does not make mistakes often in U shaped rooms...