Darken, C. and Paull, G. "Finding Cover in Dynamic Environments", Game AI Programming Wisdom 3, Charles River, S. Rabin editor, 2006.

In this article, we describe our approach to improved cover finding with an emphasis on adaptability to dynamic environments. The technique described here combines level annotation with the sensor grid algorithm. The strength of level annotation is its modest computational requirements. The strength of the sensor grid algorithm is its ability to handle dynamic environments and to find smaller cover opportunities in static environments. Each approach is useful by itself, but combining the two can provide much of the benefit of both. In a nutshell, our approach relies on cover information stored in the candidate cover positions placed throughout the level whenever possible and performs a focused run-time search in the immediate vicinity of the agent if the level annotation information is insufficient. This allows it to be fast and yet able to react to changes in the environment that occur during play.