\section{Grid-Based Floorplan}

	\commentByFrank{grafik wie es aussieht, vor allem die treppen}
	\commentByFrank{add nodes not creating an intersection}
	\commentByFrank{find largest connected region}
	\commentByFrank{remove all other nodes (conserve memory)}
	
	\commentByFrank{mention: clean z-transitions, remove x/y nodes by adding bounding boxes}

\subsection{Generation}

\subsection{Weighting}

\subsection{Pathfinding}