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Check out this fantastic collection of Call of Duty Ghost wallpapers, with 49 Call of Duty Ghost background images for your desktop, phone or tablet.
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In this you would develop your own Ghost agents to try and capture an agent or user controlled Pacman. This was very useful in playing around with different AI techniques. More to your question, the levels in that framework are actually built out of a graph and not a 2d array. You might take a look at the code to see how they do it.
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Explore 69 Call Of Duty Ghosts desktop wallpapers and backgrounds. Download for free in HD and custom resolutions.