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I think you should have a check for behind the bot if its walking backwards. Most people I know that have played any game for a long time can run backwards and have a good idea of whats behind them and thus avoid it. I am not sure how you would do it though because it would not be right for the bots to have perfect detection of what they can not see. Maybe the check would would only run if they hit something as they where backing up or have it give back false info some of the time so the bot ends up hitting stuff.