Peer to peer is a concept which I used for my AI. Your point is right but it's the way foes share they info about the map. Like one entity solves a part of the problem crucial for it and shares solution with others (not all of them tho) . After some additions problem is solved enough that about 1/3 of foes can simply rely on it and compute literally nothing about the pathfinding for themselfs. Optimisation that works .