I have no real hands on experience with AI, but this stuff looks complex and crazy to me. Don't get me wrong, there is no wrong way of doing this and it's very interesting. If I were to do AI in a game I didn't have source code to, I would traverse the bsp tree of the map geometry and do ray tracing for path finding and collision detection and let the bot make it's own decisions instead of limiting the options with hard coded values. I'm sure you have a reason for all this though. It is nice to have a unique node graph for different maps. Good seeing progress on this, keep it up!