@rbxts/navigate

Composable, TypeScript-native pathfinding for roblox-ts. Wraps Roblox's PathfindingService with the things it doesn't give you out of the box: multi-agent coordination, formations, arrival behaviors, and scalable pursuit with a per-frame compute budget.

import { PathManager } from "@rbxts/navigate";

const manager = PathManager.create();
manager.registerAgent(zombieModel, { speed: 14, visualize: true });
manager.setTarget(zombieModel, player.Character.HumanoidRootPart);

That's it — the zombie pursues, recovers from getting stuck, transitions to direct steering when close, and never overlaps with ComputeAsync calls from other zombies.

---

Why

Roblox's built-in PathfindingService is a navmesh + a path object, and that's it. Anything past "one NPC walking somewhere" is on you:

• Many NPCs at once → unbounded ComputeAsync calls per frame, frame drops.
• A swarm chasing one player → every NPC pathfinds independently to the same target.
• Close-range pursuit → the path lags behind the player; NPCs run to where you were.
• Formations → not a thing.

navigate is the layer above. You opt into the parts you need: the single-agent wrapper, the multi-agent manager, or the group/formation system on top.

---

Install

bun add @rbxts/navigate
# or
npm install @rbxts/navigate

---

Layers

Layer	What	When
PathAgent	Single-agent wrapper around PathfindingService. Waypoints, jumps, stuck detection, visualization.	One-off NPCs; total control.
PathManager	Multi-agent coordinator (singleton). Two-phase pursuit, auto-clustering, per-frame compute budget.	Squads, swarms, anything > 1 agent.
Groups + formations + arrival	Explicit named groups with wedge/line/circle/grid formations and converge/surround/stack/spread arrival.	Tactical AI. Encounters that need shape.

You can mix: a PathManager with both ungrouped agents (auto-clustered) and explicit named groups.

---

Quick start

Single agent

import { PathAgent } from "@rbxts/navigate";

const agent = new PathAgent(npcModel, {
  agentParams: { AgentRadius: 2, AgentHeight: 5, AgentCanJump: true },
  speed: 16,
  visualize: true, // draws path waypoints
});

agent.run(targetPart); // or a Vector3

agent.reached.Connect((waypoint, partial) => {
  print("arrived (partial:", partial, ")");
});

agent.stuck.Connect(() => {
  print("can't make progress — try jumping or pick a new goal");
});

PathAgent works standalone — no PathManager required.

Many agents pursuing a player

import { PathManager } from "@rbxts/navigate";

const manager = PathManager.create();

for (const zombie of allZombies) {
  manager.registerAgent(zombie, {
    speed: 12,
    visualize: false,
    agentParams: { AgentRadius: 2, AgentHeight: 5, AgentCanJump: true },
  });
}

manager.setTargetAll(player.Character.HumanoidRootPart);

The manager handles everything from here:

• Caps ComputeAsync calls per frame (default 20). Excess agents wait their turn.
• Clusters nearby agents pursuing the same target — only the closest one to the target pathfinds; the rest follow it directly.
• When an agent gets within ~20 studs of the target with line-of-sight, it switches to direct steering (Humanoid:MoveTo) for smooth close-range pursuit.

---

Groups, formations, and arrival

For coordinated movement (squads, escorts, encounter design), use named groups.

manager.createGroup("alpha-squad", [grunt1, grunt2, grunt3, grunt4], {
  formation: { formationType: "wedge", spacing: 6 },
  arrivalBehavior: { arrivalType: "surround", radius: 12 },
});

manager.setTarget(grunt1, playerRoot); // any member; group inherits

The group picks one pathfinder. Other members ride the formation: a wedge shape while moving, then redistribute to surround the target on arrival.

Formation types

Type	Shape
none	All followers converge on the leader (no offset).
line	Alternating left/right perpendicular to heading.
wedge	V-shape spreading backward from the leader.
circle	Even ring around the leader.
grid	Square grid behind the leader.
custom	You provide an offsets: Vector3[] array, leader-local.

Set spacing to control density:

{ formationType: "line",   spacing: 4 }   // tight infantry line
{ formationType: "wedge",  spacing: 8 }   // loose V
{ formationType: "circle", spacing: 10 }  // ring around the leader
{ formationType: "grid",   spacing: 5 }   // square block behind

Or hand-place each member:

{
  formationType: "custom",
  spacing: 0, // unused for custom
  offsets: [
    new Vector3(-4, 0, -2),
    new Vector3( 4, 0, -2),
    new Vector3(-8, 0, -4),
    new Vector3( 8, 0, -4),
  ],
}

Custom offsets are in leader-local space (X = right, Z = forward) and get rotated to follow the leader's heading.

Arrival behaviors

When the group reaches its target, members redistribute:

Type	Behavior	Use case
converge	All members move to the target position.	Default; pile-on attack.
surround	Even ring around target at radius.	Encirclement, boss fights.
stack	Line up behind the approach direction at stackDistance apart.	Single-file through a doorway.
spread	Semicircle fan on the approach side at radius.	Firing line, "we have you cornered."

manager.setArrivalBehavior("alpha-squad", {
  arrivalType: "surround",
  radius: 14,
});

The approach direction is cached the moment the group first enters CLOSE phase, so members don't oscillate as the target moves.

---

Configuration reference

Per-agent

manager.registerAgent(model, {
  // Pathfinding
  agentParams: { AgentRadius: 2, AgentHeight: 5, AgentCanJump: true },

  // Movement
  speed: 16,
  visualize: false,

  // Stuck detection
  timeoutEnabled: true,
  timeoutMultiplier: 2, // 2x estimated time before declared stuck

  // Pursuit tuning
  enablePrediction: false, // aim ahead of moving target via velocity
  priorityBias: 0,         // higher = compute budget sooner

  // Custom movement (for non-humanoid agents)
  onMove: (pos) => {/* drive a vehicle */},
  onJump: () => {/* … */},
});

Manager (global)

PathManager.create({
  computeBudgetPerFrame: 20,    // ComputeAsync calls/frame
  closeRangeThreshold: 20,      // FAR↔CLOSE switch distance
  dirtyDistanceThreshold: 10,   // target-moved distance that triggers recompute
  recomputeCooldown: 0.5,       // min seconds between recomputes per agent
  clusterRadius: 15,            // cluster join radius
  clusterDriftThreshold: 20,    // follower drift before leaving cluster
  updateInterval: 0.1,          // 10 Hz manager tick
});

---

Visualization

When visualize: true on an agent, the manager paints small neon parts at each waypoint:

Color	Meaning
🟢 Green	This agent is its own pathfinder (cluster leader / ungrouped).
🟠 Orange	Group pathfinder waypoints.
🔵 Cyan	Follower (no compute — riding leader's path).
🟡 Yellow	Jump waypoint.
🔴 Red	Final destination. Also: CLOSE-phase target indicator.

Stale waypoints persist across phase transitions until a new path replaces them — useful for debugging.

For runtime stats (agent counts, leader/follower counts, FAR/CLOSE/idle splits), call:

const stats = manager.getStats();
//   total, far, close, idle, leaders, followers, clusters, groups

Wire that into your own debug HUD however you like.

---

Pursuit model

The manager runs each agent through three pursuit states:

stateDiagram-v2
    [*] --> IDLE
    IDLE --> FAR: target set
    FAR --> CLOSE: in range AND has LOS
    CLOSE --> FAR: out of range OR LOS broken
    FAR --> IDLE: target lost
    CLOSE --> IDLE: target lost

    note right of IDLE
        no target, no movement
    end note
    note right of FAR
        PathfindingService
        compute is rate-limited
    end note
    note right of CLOSE
        direct Humanoid:MoveTo
        cheaper, smoother
    end note

Loading

• FAR = use PathfindingService for full nav-mesh paths. Compute is rate-limited.
• CLOSE = direct Humanoid:MoveTo toward the target. Smoother and cheaper, but only when the path is straight (LOS check guards against walking into walls / off ledges).
• IDLE = no target, no movement.

Auto-clustering kicks in during FAR: ungrouped agents pursuing the same target form clusters by spatial proximity (with line-of-sight required between follower and leader). Followers MoveTo(leader.position) instead of running their own ComputeAsync. One pathfinder, N followers, cheap as chips.

---

Working with signals

PathAgent exposes Roblox-style signals you can connect to:

const agent = manager.registerAgent(npc, { speed: 16 }).pathAgent;

agent.reached.Connect((waypoint, partial) => { /* arrived */ });
agent.waypointReached.Connect((current, upcoming) => { /* per-step */ });
agent.blocked.Connect((waypointIdx) => { /* obstruction ahead */ });
agent.stuck.Connect(() => { /* timeout — try jumping or repath */ });
agent.error.Connect((err) => { /* "no_path" | "timeout" | etc. */ });
agent.statusChanged.Connect((newStatus, oldStatus) => { /* … */ });
agent.stopped.Connect(() => { /* explicit stop() called */ });

PathManager emits one signal:

manager.phaseChanged.Connect((agent, newPhase, oldPhase) => {
  // useful for triggering attack animations on FAR → CLOSE
});

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Cleanup

PathManager owns the RunService.Heartbeat connection. Tear it down explicitly when you're done:

manager.unregisterAgent(npcModel); // single
manager.destroy();                 // entire manager

Per-agent PathAgent instances created without a manager:

agent.destroy();

---

License

MIT — © 2026 Stephen Horton.