yes, that waypoint stuff is an application of the graph theory in mathematics. most older bots used the floyd warshall algorithm for determining the shortest path, an algorithm, which allows offline calculations and fast lookup. unfortunately it's also pretty static. to include dynamic costs A*, D*, or ( realbot once used ) BFS are used.
gotta take a look at the lectures here and see what kind of stuff is covered there. although that might be a bit tooo theoretical for usage in bots if that lecture is done by the pure mathematicians
