How do I implement group formations in a 3D RTS? I managed to get pathfinding work for a single unit, and I managed to avoid agent agent collision, but now I need to be able to send a group of agents to some location. This is my set up so far Waypoint pathfinding The minimum distance between two nodes is a little bigger than the biggest bounding sphere radius allowed for an agent. Agents avoid collisions with other agents by doing some steering behaviour I based on clearpath So now I need to send my agents somewhere in group. I have read some posts saying that some way to do it is to create a group leader and give the other units offsets to his position. But then the problem is, what if the group formation cannot be achieved? e.g. you want to form a rectangle, but at the target position there is a structure nearby which prevents you from creating a rectangle setup.