\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}

	\commentByFrank{describe the multi-path version}
	
	\commentByFrank{describe the single-path version}
	\commentByFrank{exp-dist for distance to the path. more distance = less-likely}
	\commentByFrank{lambda-factor controls the allowed deviation from the shortest-path}
