I think you are very close!
Sorry I am from phone.. so my text will be more terrible than often..


http://en.m.wikipedia.org/wiki/PID_controller

I tell about anti warp like about integral term with Ki ~0.5 like on the picture in the article.. I think also that such happy for us thing that anti-warp offend the bot which use many maps is the one of the primary functions.. Cause the human miners never will generate soon much maps.. Cause the people Luke to play, not to find good map.. Soo the need of the path min length is AWESOME! By the way we can play now, I win on the one of the 15 maps.. Or fewer.. I just need time to adjuste my flight.. And I regenerate map only if I can't get normal start.. When start is in situation like tale letter "U", and you can't escape.. Maybe someone do that other ways...

Thank you for wasting time reading my ungrammatical posts))
I go to sleep..


Easy Moto for all miners! Good maps!