added loop to shadowing logic

added shadowing in defenseAgent

chokepoint heuristic 2.0 and return home after x amount

reposition fixed

added some defensive logic, ucs function

added registerinitialstate to parentagent

dynamic width and height

return home safely, reposition randomly, and no chasing logic

next closest pellets

deadzones heuristic

deadzones and chokepoints

more dominator code

amended a star/dfs

naive O(N*M) dominator tree

commented code