diff --git a/.gitignore b/.gitignore
index 9d2b3ae5aa1..52ee73c3835 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,6 @@
 # ignore misc BYOND files
 Thumbs.db
+Thumbs.db:encryptable
 *.log
 *.int
 *.rsc
diff --git a/code/__defines/ai.dm b/code/__defines/ai.dm
index 2123e2e8839..03fa03fa9e8 100644
--- a/code/__defines/ai.dm
+++ b/code/__defines/ai.dm
@@ -6,6 +6,8 @@
 #define STANCE_ATTACKING         /decl/mob_controller_stance/attacking
 #define STANCE_TIRED             /decl/mob_controller_stance/tired
 #define STANCE_CONTAINED         /decl/mob_controller_stance/contained
+#define STANCE_BUSY              /decl/mob_controller_stance/busy
+
  //basically 'do nothing'
 #define STANCE_COMMANDED_STOP    /decl/mob_controller_stance/commanded/stop
 //follows a target
diff --git a/code/__defines/subsystem-priority.dm b/code/__defines/subsystem-priority.dm
index fc69009e88b..cd44840622a 100644
--- a/code/__defines/subsystem-priority.dm
+++ b/code/__defines/subsystem-priority.dm
@@ -39,6 +39,7 @@
 #define SS_PRIORITY_GHOST_IMAGES  10  // Updates ghost client images.
 #define SS_PRIORITY_ZCOPY         10  // Builds appearances for Z-Mimic.
 #define SS_PRIORITY_PROJECTILES   10  // Projectile processing!
+#define SS_PRIORITY_PATHFINDING   10  // Processing pathfinding requests
 
 // SS_BACKGROUND
 #define SS_PRIORITY_OBJECTS      100  // processing_objects processing.
diff --git a/code/controllers/subsystems/mob_ai/auto_movement.dm b/code/controllers/subsystems/mob_ai/auto_movement.dm
index 7e2990c1cb8..843f37ab2d0 100644
--- a/code/controllers/subsystems/mob_ai/auto_movement.dm
+++ b/code/controllers/subsystems/mob_ai/auto_movement.dm
@@ -51,5 +51,8 @@ SUBSYSTEM_DEF(automove)
 		if(controller.handle_mover(mover, moving_metadata[mover]) == PROCESS_KILL && !QDELETED(mover))
 			mover.stop_automove()
 		if(MC_TICK_CHECK)
-			processing_atoms.Cut(1, i+1)
+			if(i >= length(processing_atoms))
+				processing_atoms.Cut()
+			else
+				processing_atoms.Cut(1, i+1)
 			return
diff --git a/code/controllers/subsystems/pathfinding.dm b/code/controllers/subsystems/pathfinding.dm
new file mode 100644
index 00000000000..d6e63f4191f
--- /dev/null
+++ b/code/controllers/subsystems/pathfinding.dm
@@ -0,0 +1,123 @@
+SUBSYSTEM_DEF(pathfinding)
+	name       = "Pathfinding"
+	priority   = SS_PRIORITY_PATHFINDING
+	init_order = SS_INIT_MISC_LATE
+	wait       = 1
+
+	var/list/pending        = list()
+	var/list/processing     = list()
+	var/list/mover_metadata = list()
+
+	VAR_PRIVATE/static/_default_adjacency_call = TYPE_PROC_REF(/turf, CardinalTurfsWithAccess)
+	VAR_PRIVATE/static/_default_distance_call  = TYPE_PROC_REF(/turf, Distance)
+
+/atom/movable
+	var/waiting_for_path
+
+/atom/movable/proc/path_found(list/path)
+	SHOULD_CALL_PARENT(TRUE)
+	waiting_for_path = null
+
+/atom/movable/proc/path_not_found()
+	SHOULD_CALL_PARENT(TRUE)
+	waiting_for_path = null
+
+/datum/controller/subsystem/pathfinding/proc/dequeue_mover(atom/movable/mover, include_processing = TRUE)
+	if(!istype(mover))
+		return
+	mover.waiting_for_path = null
+	pending        -= mover
+	mover_metadata -= mover
+	if(include_processing)
+		processing -= mover
+
+// Hook to allow legacy use of AStar* to reuse the callback refs
+/datum/controller/subsystem/pathfinding/proc/find_path_immediate(start, end, max_nodes, max_node_depth = 30, min_target_dist = 0, min_node_dist, id, datum/exclude, check_tick = FALSE)
+	return find_path_astar(start, end, _default_adjacency_call, _default_distance_call, max_nodes, max_node_depth, min_target_dist, min_node_dist, id, exclude, check_tick)
+
+/datum/controller/subsystem/pathfinding/proc/enqueue_mover(atom/movable/mover, atom/target, datum/pathfinding_metadata/metadata)
+	if(!istype(mover) || mover.waiting_for_path)
+		return FALSE
+	if(!istype(target))
+		return FALSE
+	pending |= mover
+	pending[mover] = target
+	if(istype(metadata))
+		mover_metadata[mover] = metadata
+	mover.waiting_for_path = world.time
+	return TRUE
+
+/datum/controller/subsystem/pathfinding/stat_entry(msg)
+	. = ..("Q:[length(pending)] P:[length(processing)]")
+
+/datum/controller/subsystem/pathfinding/fire(resumed)
+
+	if(!resumed)
+		processing = pending?.Copy()
+
+	var/atom/movable/mover
+	var/atom/target
+	var/datum/pathfinding_metadata/metadata
+	var/i = 0
+
+	while(i < processing.len)
+
+		i++
+		mover  = processing[i]
+		target = processing[mover]
+		metadata = mover_metadata[mover]
+		dequeue_mover(mover, include_processing = FALSE)
+
+		if(!QDELETED(mover) && !QDELETED(target))
+			try_find_path(mover, target, metadata)
+
+		if (MC_TICK_CHECK)
+			processing.Cut(1, i+1)
+			return
+
+	processing.Cut()
+
+/datum/controller/subsystem/pathfinding/proc/try_find_path(atom/movable/mover, atom/target, datum/pathfinding_metadata/metadata, adjacency_call = _default_adjacency_call, distance_call = _default_distance_call)
+
+	var/started_pathing = world.time
+	mover.waiting_for_path = started_pathing
+
+	var/list/path = find_path_astar(
+		get_turf(mover),
+		target,
+		adjacency_call,
+		distance_call,
+		(metadata?.max_nodes || null),
+		(metadata?.max_node_depth || 250),
+		metadata?.min_target_dist,
+		metadata?.min_node_depth,
+		(metadata?.id || mover.GetIdCard()),
+		metadata?.obstacle,
+		check_tick = TRUE
+	)
+	if(mover.waiting_for_path == started_pathing)
+		if(length(path))
+			mover.path_found(path)
+		else
+			mover.path_not_found()
+
+/datum/pathfinding_metadata
+	var/max_nodes        = null
+	var/max_node_depth   = 250
+	var/atom/id          = null
+	var/min_target_dist  = null
+	var/min_node_depth   = null
+	var/obstacle         = null
+
+/datum/pathfinding_metadata/New(_max_nodes, _max_node_depth, _id, _min_target_dist, _min_node_depth, _obstacle)
+
+	id        = _id
+	obstacle  = _obstacle
+	max_nodes = _max_nodes
+
+	if(!isnull(_max_node_depth))
+		max_node_depth  = _max_node_depth
+	if(!isnull(_min_target_dist))
+		min_target_dist = _min_target_dist
+	if(!isnull(_min_node_depth))
+		min_node_depth  = _min_node_depth
diff --git a/code/datums/ai/_ai.dm b/code/datums/ai/_ai.dm
index 6e40fd7ab35..9c943dadb4f 100644
--- a/code/datums/ai/_ai.dm
+++ b/code/datums/ai/_ai.dm
@@ -62,6 +62,23 @@
 	/// Aggressive AI var; defined here for reference without casting.
 	var/try_destroy_surroundings = FALSE
 
+	/// Reference to the atom we are targetting.
+	var/weakref/target_ref
+
+	/// Current path for A* pathfinding.
+	var/list/executing_path
+	/// A counter for times we have failed to progress along our path.
+	var/path_frustration = 0
+	/// A list of any obstacles we should path around in future.
+	var/list/path_obstacles = null
+
+	/// Radius of target scan area when looking for valid targets. Set to 0 to disable target scanning.
+	var/target_scan_distance = 0
+	/// Time tracker for next target scan.
+	var/next_target_scan_time
+	/// How long minimum between scans.
+	var/target_scan_delay = 1 SECOND
+
 /datum/mob_controller/New(var/mob/living/target_body)
 	body = target_body
 	if(expected_type && !istype(body, expected_type))
@@ -71,6 +88,7 @@
 /datum/mob_controller/Destroy()
 	LAZYCLEARLIST(_friends)
 	LAZYCLEARLIST(_enemies)
+	set_target(null)
 	if(is_processing)
 		STOP_PROCESSING(SSmob_ai, src)
 	if(body)
@@ -79,12 +97,6 @@
 		body = null
 	. = ..()
 
-/datum/mob_controller/proc/get_automove_target(datum/automove_metadata/metadata)
-	return null
-
-/datum/mob_controller/proc/can_do_automated_move(variant_move_delay)
-	return body && !body.client
-
 /datum/mob_controller/proc/can_process()
 	if(!body || !body.loc || ((body.client || body.mind) && !(body.status_flags & ENABLE_AI)))
 		return FALSE
@@ -111,13 +123,13 @@
 // This is the place to actually do work in the AI.
 /datum/mob_controller/proc/do_process()
 	SHOULD_CALL_PARENT(TRUE)
-	if(!QDELETED(body) && !QDELETED(src))
+	if(get_stance() != STANCE_BUSY && !QDELETED(body) && !QDELETED(src))
 		if(!body.stat)
 			try_unbuckle()
 			try_wander()
 			try_bark()
 			// Recheck in case we walked into lava or something during wandering.
-			return !QDELETED(body) && !QDELETED(src)
+			return get_stance() != STANCE_BUSY && !QDELETED(body) && !QDELETED(src)
 		return TRUE
 	return FALSE
 
@@ -132,16 +144,6 @@
 		else if(prob(25))
 			body.visible_message(SPAN_WARNING("\The [body] struggles against \the [body.buckled]!"))
 
-
-/datum/mob_controller/proc/get_activity()
-	return current_activity
-
-/datum/mob_controller/proc/set_activity(new_activity)
-	if(current_activity != new_activity)
-		current_activity = new_activity
-		return TRUE
-	return FALSE
-
 // The mob will periodically sit up or step 1 tile in a random direction.
 /datum/mob_controller/proc/try_wander()
 	//Movement
@@ -185,133 +187,17 @@
 		else if(ispath(do_emote, /decl/emote))
 			body.emote(do_emote)
 
-/datum/mob_controller/proc/get_target()
-	return null
-
-/datum/mob_controller/proc/set_target(atom/new_target)
-	return
-
-/datum/mob_controller/proc/find_target()
-	return
-
-/datum/mob_controller/proc/valid_target(var/atom/A)
-	return
-
-/datum/mob_controller/proc/move_to_target(var/move_only = FALSE)
-	return
-
-/datum/mob_controller/proc/stop_wandering()
-	stop_wander = TRUE
-
-/datum/mob_controller/proc/resume_wandering()
-	stop_wander = FALSE
-
-/datum/mob_controller/proc/set_stance(new_stance)
-	if(stance != new_stance)
-		stance = new_stance
-		return TRUE
-	return FALSE
-
-/datum/mob_controller/proc/get_stance()
-	return stance
-
-/datum/mob_controller/proc/list_targets(var/dist = 7)
-	return
-
-/datum/mob_controller/proc/open_fire()
-	return
-
-/datum/mob_controller/proc/startle()
-	if(QDELETED(body) || body.stat != UNCONSCIOUS)
-		return
-	body.set_stat(CONSCIOUS)
-	if(body.current_posture?.prone)
-		body.set_posture(/decl/posture/standing)
-
-/datum/mob_controller/proc/retaliate(atom/source)
-	SHOULD_CALL_PARENT(TRUE)
-	if(!istype(body) || body.stat == DEAD)
-		return FALSE
-	startle()
-	if(isliving(source))
-		remove_friend(source)
-	return TRUE
-
 /datum/mob_controller/proc/destroy_surroundings()
 	return
 
-/datum/mob_controller/proc/lose_target()
-	return
-
-/datum/mob_controller/proc/lost_target()
-	return
-
 /datum/mob_controller/proc/handle_death(gibbed)
 	return
 
-/datum/mob_controller/proc/pacify(mob/user)
-	lose_target()
-	add_friend(user)
-
-// General-purpose memorise proc, used by /commanded
-/datum/mob_controller/proc/memorise(mob/speaker, message)
-	return
-
-// General-purpose memory checking proc, used by /faithful_hound
-/datum/mob_controller/proc/check_memory(mob/speaker, message)
-	return FALSE
-
 /// General-purpose scooping reaction proc, used by /passive.
 /// Returns TRUE if the scoop should proceed, FALSE if it should be canceled.
 /datum/mob_controller/proc/scooped_by(mob/initiator)
 	return TRUE
 
-// Enemy tracking - used on /aggressive
-/datum/mob_controller/proc/get_enemies()
-	return _enemies
-
-/datum/mob_controller/proc/add_enemy(mob/enemy)
-	if(istype(enemy))
-		LAZYDISTINCTADD(_enemies, weakref(enemy))
-
-/datum/mob_controller/proc/add_enemies(list/enemies)
-	for(var/thing in enemies)
-		if(ismob(thing))
-			add_friend(thing)
-		else if(istype(thing, /weakref))
-			LAZYDISTINCTADD(_enemies, thing)
-
-/datum/mob_controller/proc/remove_enemy(mob/enemy)
-	LAZYREMOVE(_enemies, weakref(enemy))
-
-/datum/mob_controller/proc/set_enemies(list/new_enemies)
-	_enemies = new_enemies
-
-/datum/mob_controller/proc/is_enemy(mob/enemy)
-	. = istype(enemy) && LAZYLEN(_enemies) && (weakref(enemy) in _enemies)
-
-/datum/mob_controller/proc/clear_enemies()
-	LAZYCLEARLIST(_enemies)
-
-// Friend tracking - used on /aggressive.
-/datum/mob_controller/proc/get_friends()
-	return _friends
-
-/datum/mob_controller/proc/add_friend(mob/friend)
-	if(istype(friend))
-		LAZYDISTINCTADD(_friends, weakref(friend))
-		return TRUE
-	return FALSE
-
-/datum/mob_controller/proc/remove_friend(mob/friend)
-	LAZYREMOVE(_friends, weakref(friend))
-
-/datum/mob_controller/proc/set_friends(list/new_friends)
-	_friends = new_friends
-
-/datum/mob_controller/proc/is_friend(mob/friend)
-	. = istype(friend) && LAZYLEN(_friends) && (weakref(friend) in _friends)
-
 // By default, randomize the target area a bit to make armor/combat
 // a bit more dynamic (and avoid constant organ damage to the chest)
 /datum/mob_controller/proc/update_target_zone()
diff --git a/code/datums/ai/_ai_enemies.dm b/code/datums/ai/_ai_enemies.dm
new file mode 100644
index 00000000000..cbb7ddf4644
--- /dev/null
+++ b/code/datums/ai/_ai_enemies.dm
@@ -0,0 +1,35 @@
+// Enemy tracking - used on /aggressive
+/datum/mob_controller/proc/get_enemies()
+	return _enemies
+
+/datum/mob_controller/proc/add_enemy(mob/enemy)
+	if(istype(enemy))
+		LAZYDISTINCTADD(_enemies, weakref(enemy))
+
+/datum/mob_controller/proc/add_enemies(list/enemies)
+	for(var/thing in enemies)
+		if(ismob(thing))
+			add_friend(thing)
+		else if(istype(thing, /weakref))
+			LAZYDISTINCTADD(_enemies, thing)
+
+/datum/mob_controller/proc/remove_enemy(mob/enemy)
+	LAZYREMOVE(_enemies, weakref(enemy))
+
+/datum/mob_controller/proc/set_enemies(list/new_enemies)
+	_enemies = new_enemies
+
+/datum/mob_controller/proc/is_enemy(mob/enemy)
+	. = istype(enemy) && LAZYLEN(_enemies) && (weakref(enemy) in _enemies)
+
+/datum/mob_controller/proc/clear_enemies()
+	LAZYCLEARLIST(_enemies)
+
+/datum/mob_controller/proc/retaliate(atom/source)
+	SHOULD_CALL_PARENT(TRUE)
+	if(!istype(body) || body.stat == DEAD)
+		return FALSE
+	startle()
+	if(isliving(source))
+		remove_friend(source)
+	return TRUE
diff --git a/code/datums/ai/_ai_friends.dm b/code/datums/ai/_ai_friends.dm
new file mode 100644
index 00000000000..3cab9046fce
--- /dev/null
+++ b/code/datums/ai/_ai_friends.dm
@@ -0,0 +1,25 @@
+/datum/mob_controller/proc/pacify(mob/user)
+	lose_target()
+	add_friend(user)
+
+// Friend tracking - used on /aggressive.
+/datum/mob_controller/proc/get_friends()
+	return _friends
+
+/datum/mob_controller/proc/add_friend(mob/friend)
+	if(istype(friend))
+		LAZYDISTINCTADD(_friends, weakref(friend))
+		return TRUE
+	return FALSE
+
+/datum/mob_controller/proc/remove_friend(mob/friend)
+	LAZYREMOVE(_friends, weakref(friend))
+
+/datum/mob_controller/proc/set_friends(list/new_friends)
+	_friends = new_friends
+
+/datum/mob_controller/proc/is_friend(mob/friend)
+	. = istype(friend) && LAZYLEN(_friends) && (weakref(friend) in _friends)
+
+/datum/mob_controller/proc/clear_friends()
+	LAZYCLEARLIST(_friends)
diff --git a/code/datums/ai/_ai_memory.dm b/code/datums/ai/_ai_memory.dm
new file mode 100644
index 00000000000..f837a58cb8c
--- /dev/null
+++ b/code/datums/ai/_ai_memory.dm
@@ -0,0 +1,7 @@
+// General-purpose memorise proc, used by /commanded
+/datum/mob_controller/proc/memorise(mob/speaker, message)
+	return
+
+// General-purpose memory checking proc, used by /faithful_hound
+/datum/mob_controller/proc/check_memory(mob/speaker, message)
+	return FALSE
diff --git a/code/datums/ai/_ai_pathfinding.dm b/code/datums/ai/_ai_pathfinding.dm
new file mode 100644
index 00000000000..e01abaa05ce
--- /dev/null
+++ b/code/datums/ai/_ai_pathfinding.dm
@@ -0,0 +1,29 @@
+/datum/mob_controller/proc/can_do_automated_move(variant_move_delay)
+	return body && !body.client
+
+/datum/mob_controller/proc/clear_paths()
+	clear_path()
+
+/datum/mob_controller/proc/clear_path()
+	executing_path = null
+	body?.stop_automove()
+
+/datum/mob_controller/proc/get_automove_target(datum/automove_metadata/metadata)
+	var/turf/move_target = (islist(executing_path) && length(executing_path)) ? executing_path[1] : null
+	if(!istype(move_target) || QDELETED(move_target))
+		clear_path()
+		return null
+	return move_target
+
+/datum/mob_controller/proc/handle_post_automoved(atom/old_loc)
+	if(!islist(executing_path) || length(executing_path) <= 0)
+		return
+	var/turf/body_turf = get_turf(body)
+	if(!istype(body_turf))
+		return
+	if(executing_path[1] != body_turf)
+		return
+	if(length(executing_path) > 1)
+		executing_path.Cut(1, 2)
+	else
+		clear_path()
diff --git a/code/datums/ai/_ai_stance.dm b/code/datums/ai/_ai_stance.dm
index ca018169811..be3b11f94a7 100644
--- a/code/datums/ai/_ai_stance.dm
+++ b/code/datums/ai/_ai_stance.dm
@@ -1,30 +1,43 @@
 // Stub type for future expansion/logic encapsulation.
 /decl/mob_controller_stance
 	abstract_type = /decl/mob_controller_stance
-
 /decl/mob_controller_stance/none
-
 /decl/mob_controller_stance/idle
-
 /decl/mob_controller_stance/alert
-
 /decl/mob_controller_stance/attack
-
 /decl/mob_controller_stance/attacking
-
 /decl/mob_controller_stance/tired
-
 /decl/mob_controller_stance/contained
-
 /decl/mob_controller_stance/commanded
 	abstract_type = /decl/mob_controller_stance/commanded
-
 /decl/mob_controller_stance/commanded/stop
-
 /decl/mob_controller_stance/commanded/follow
-
 /decl/mob_controller_stance/commanded/misc
-
 /decl/mob_controller_stance/commanded/heal
-
 /decl/mob_controller_stance/commanded/healing
+/decl/mob_controller_stance/busy
+
+/datum/mob_controller/proc/get_activity()
+	return current_activity
+
+/datum/mob_controller/proc/set_activity(new_activity)
+	if(current_activity != new_activity)
+		current_activity = new_activity
+		return TRUE
+	return FALSE
+
+/datum/mob_controller/proc/set_stance(new_stance)
+	if(stance != new_stance)
+		stance = new_stance
+		return TRUE
+	return FALSE
+
+/datum/mob_controller/proc/get_stance()
+	return stance
+
+/datum/mob_controller/proc/startle()
+	if(QDELETED(body) || body.stat != UNCONSCIOUS)
+		return
+	body.set_stat(CONSCIOUS)
+	if(body.current_posture?.prone)
+		body.set_posture(/decl/posture/standing)
diff --git a/code/datums/ai/_ai_targets.dm b/code/datums/ai/_ai_targets.dm
new file mode 100644
index 00000000000..49c5acedb09
--- /dev/null
+++ b/code/datums/ai/_ai_targets.dm
@@ -0,0 +1,77 @@
+/datum/mob_controller/proc/get_target()
+	if(isnull(target_ref))
+		return null
+	var/atom/target = target_ref?.resolve()
+	if(!istype(target) || QDELETED(target))
+		set_target(null)
+		return null
+	return target
+
+/datum/mob_controller/proc/set_target(atom/new_target)
+	var/weakref/new_target_ref = weakref(new_target)
+	if(target_ref != new_target_ref)
+		target_ref = new_target_ref
+		return TRUE
+	return FALSE
+
+/datum/mob_controller/proc/find_target()
+	SHOULD_CALL_PARENT(TRUE)
+	next_target_scan_time = world.time + target_scan_delay
+
+/datum/mob_controller/proc/valid_target(var/atom/A)
+	if(!istype(A))
+		return FALSE
+	if(!A.simulated)
+		return FALSE
+	if(A == body)
+		return FALSE
+	if(A.invisibility > body.see_invisible)
+		return FALSE
+	if(LAZYLEN(_friends) && ismob(A) && (weakref(A) in _friends))
+		return FALSE
+	if(!A.loc)
+		return FALSE
+	return TRUE
+
+/datum/mob_controller/proc/lose_target()
+	path_frustration = 0
+	path_obstacles = null
+	set_target(null)
+	lost_target()
+
+/datum/mob_controller/proc/lost_target()
+	set_stance(STANCE_IDLE)
+	body.stop_automove()
+
+/datum/mob_controller/proc/list_targets()
+	// By default, we only target designated enemies.
+	var/list/enemies = get_enemies()
+	if(!LAZYLEN(enemies))
+		return
+	var/list/possible_targets = get_raw_target_list()
+	if(!length(possible_targets))
+		return
+	for(var/weakref/enemy in enemies) // Remove all entries that aren't in enemies
+		var/M = enemy.resolve()
+		if(M in possible_targets)
+			LAZYDISTINCTADD(., M)
+
+/datum/mob_controller/proc/do_target_scan()
+	. = target_scan_distance > 0 && world.time >= next_target_scan_time
+
+/datum/mob_controller/proc/move_to_target(var/move_only = FALSE)
+	return
+
+/datum/mob_controller/proc/get_raw_target_list()
+	if(target_scan_distance)
+		return hearers(body, target_scan_distance)-body
+	return null
+
+/datum/mob_controller/proc/get_valid_targets()
+	. = list()
+	for(var/target in list_targets(target_scan_distance))
+		if(valid_target(target))
+			. += target
+
+/datum/mob_controller/proc/handle_ranged_target(atom/ranged_target)
+	return FALSE
diff --git a/code/datums/ai/_ai_wander.dm b/code/datums/ai/_ai_wander.dm
new file mode 100644
index 00000000000..705d3fdcef1
--- /dev/null
+++ b/code/datums/ai/_ai_wander.dm
@@ -0,0 +1,5 @@
+/datum/mob_controller/proc/stop_wandering()
+	stop_wander = TRUE
+
+/datum/mob_controller/proc/resume_wandering()
+	stop_wander = FALSE
diff --git a/code/datums/ai/aggressive.dm b/code/datums/ai/aggressive.dm
index 62316d4d197..e50d4e124ae 100644
--- a/code/datums/ai/aggressive.dm
+++ b/code/datums/ai/aggressive.dm
@@ -2,36 +2,17 @@
 	stance = STANCE_IDLE
 	stop_wander_when_pulled = FALSE
 	try_destroy_surroundings = TRUE
+	target_scan_distance = 10
+
 	var/attack_same_faction = FALSE
 	var/only_attack_enemies = FALSE
 	var/break_stuff_probability = 10
-	var/weakref/target_ref
 
 /datum/mob_controller/aggressive/New()
 	..()
 	if(isliving(body) && !QDELETED(body) && !QDELETED(src))
 		body.set_intent(I_FLAG_HARM)
 
-/datum/mob_controller/aggressive/set_target(atom/new_target)
-	var/weakref/new_target_ref = weakref(new_target)
-	if(target_ref != new_target_ref)
-		target_ref = new_target_ref
-		return TRUE
-	return FALSE
-
-/datum/mob_controller/aggressive/get_target()
-	if(isnull(target_ref))
-		return null
-	var/atom/target = target_ref?.resolve()
-	if(!istype(target) || QDELETED(target))
-		set_target(null)
-		return null
-	return target
-
-/datum/mob_controller/aggressive/Destroy()
-	set_target(null)
-	return ..()
-
 /datum/mob_controller/aggressive/do_process()
 
 	if(!(. = ..()))
@@ -42,24 +23,36 @@
 		set_stance(get_target() ? STANCE_ATTACK : STANCE_IDLE)
 		return
 
+	if(isnull(stance))
+		set_stance(get_target() ? STANCE_ATTACK : STANCE_IDLE)
+
 	if(isturf(body.loc) && !body.buckled)
 		switch(stance)
 
 			if(STANCE_IDLE)
-				set_target(find_target())
-				set_stance(STANCE_ATTACK)
+				if(do_target_scan())
+					set_target(find_target())
+					if(get_target())
+						set_stance(STANCE_ATTACK)
 
 			if(STANCE_ATTACK)
-				body.face_atom(get_target())
-				if(try_destroy_surroundings)
-					destroy_surroundings()
-				move_to_target()
+
+				if(get_target())
+					body.face_atom(get_target())
+					if(try_destroy_surroundings)
+						destroy_surroundings()
+					move_to_target()
+				else
+					set_stance(STANCE_IDLE)
 
 			if(STANCE_ATTACKING)
-				body.face_atom(get_target())
-				if(try_destroy_surroundings)
-					destroy_surroundings()
-				handle_attacking_target()
+				if(get_target())
+					body.face_atom(get_target())
+					if(try_destroy_surroundings)
+						destroy_surroundings()
+					handle_attacking_target()
+				else
+					set_stance(STANCE_IDLE)
 
 			if(STANCE_CONTAINED) //we aren't inside something so just switch
 				set_stance(STANCE_IDLE)
@@ -79,7 +72,7 @@
 /datum/mob_controller/aggressive/proc/handle_attacking_target()
 	stop_wandering()
 	var/atom/target = get_target()
-	if(!istype(target) || !attackable(target) || !(target in list_targets(10))) // consider replacing this list_targets() call with a distance or LOS check
+	if(!istype(target) || !attackable(target) || !(target in get_raw_target_list()))
 		lose_target()
 		return FALSE
 	if (ishuman(target))
@@ -209,51 +202,40 @@
 		return
 	stop_wandering()
 	var/atom/target = get_target()
-	if(!istype(target) || !attackable(target) || !(target in list_targets(10)))
+	if(!istype(target) || !attackable(target) || !(target in get_raw_target_list()))
 		lose_target()
 		return
 	if(body.has_ranged_attack() && get_dist(body, target) <= body.get_ranged_attack_distance() && !move_only)
 		body.stop_automove()
-		open_fire()
+		handle_ranged_target(target)
 		return
 	set_stance(STANCE_ATTACKING)
 	body.start_automove(target)
 
-/datum/mob_controller/aggressive/list_targets(var/dist = 7)
+/datum/mob_controller/aggressive/list_targets()
 	// Base hostile mobs will just destroy everything in view.
 	// Mobs with an enemy list will filter the view by their enemies.
 	if(!only_attack_enemies)
-		return hearers(body, dist)-body
-	var/list/enemies = get_enemies()
-	if(!LAZYLEN(enemies))
-		return
-	var/list/possible_targets = hearers(body, dist)-body
-	if(!length(possible_targets))
-		return
-	for(var/weakref/enemy in enemies) // Remove all entries that aren't in enemies
-		var/M = enemy.resolve()
-		if(M in possible_targets)
-			LAZYDISTINCTADD(., M)
+		return get_raw_target_list()
+	return ..()
 
 /datum/mob_controller/aggressive/find_target()
+	. = ..()
 	if(!body.can_act() || !body.faction)
 		return null
 	resume_wandering()
-	for(var/atom/A in list_targets(10))
-		if(valid_target(A))
-			set_stance(STANCE_ATTACK)
-			body.face_atom(A)
-			return A
+	for(var/atom/A in get_valid_targets())
+		set_stance(STANCE_ATTACK)
+		body.face_atom(A)
+		return A
 
 /datum/mob_controller/aggressive/valid_target(var/atom/A)
-	if(A == body)
+	if(!..())
 		return FALSE
 	if(ismob(A))
 		var/mob/M = A
 		if(M.faction == body.faction && !attack_same_faction)
 			return FALSE
-		else if(weakref(M) in get_friends())
-			return FALSE
 		if(M.stat)
 			return FALSE
 		if(ishuman(M))
@@ -262,20 +244,12 @@
 				return FALSE
 	return TRUE
 
-/datum/mob_controller/aggressive/open_fire()
-	if(!body.can_act())
+/datum/mob_controller/aggressive/handle_ranged_target(atom/ranged_target)
+	if(!body.can_act() || !ranged_target)
 		return FALSE
-	body.handle_ranged_attack(get_target())
+	body.handle_ranged_attack(ranged_target)
 	return TRUE
 
-/datum/mob_controller/aggressive/lose_target()
-	set_target(null)
-	lost_target()
-
-/datum/mob_controller/aggressive/lost_target()
-	set_stance(STANCE_IDLE)
-	body.stop_automove()
-
 /datum/mob_controller/aggressive/pacify(mob/user)
 	..()
 	attack_same_faction = FALSE
diff --git a/code/datums/ai/beast.dm b/code/datums/ai/beast.dm
index 91ad1fec7a5..9090698f55a 100644
--- a/code/datums/ai/beast.dm
+++ b/code/datums/ai/beast.dm
@@ -36,7 +36,7 @@
 			qdel(S)
 		break
 
-/datum/mob_controller/aggressive/beast/list_targets(var/dist = 7)
+/datum/mob_controller/aggressive/beast/list_targets()
 	. = ..()
 	if(!length(.))
 		if(LAZYLEN(prey))
@@ -46,6 +46,6 @@
 				if(M)
 					. |= M
 		else if(body.get_nutrition() < body.get_max_nutrition() * 0.75) //time to look for some food
-			for(var/mob/living/L in view(body, dist))
+			for(var/mob/living/L in get_raw_target_list())
 				if(attack_same_faction || L.faction != body.faction)
 					LAZYDISTINCTADD(prey, weakref(L))
diff --git a/code/datums/ai/commanded.dm b/code/datums/ai/commanded.dm
index e4452782a84..c9e1e7f8e97 100644
--- a/code/datums/ai/commanded.dm
+++ b/code/datums/ai/commanded.dm
@@ -85,8 +85,8 @@
 	var/list/targets = get_targets_by_name(message)
 	if(LAZYLEN(targets) != 1) //CONFUSED. WHO DO I FOLLOW?
 		return 0
-	var/weakref/target_ref = targets[1]
-	set_target(target_ref.resolve()) //YEAH GOOD IDEA
+	var/weakref/single_target_ref = targets[1]
+	set_target(single_target_ref.resolve()) //YEAH GOOD IDEA
 	set_stance(STANCE_COMMANDED_FOLLOW) //GOT SOMEBODY. BETTER FOLLOW EM.
 	return 1
 
@@ -98,7 +98,7 @@
 		return
 	stop_wandering()
 	var/atom/target = get_target()
-	if(istype(target) && (target in list_targets(10)))
+	if(istype(target) && (target in get_raw_target_list()))
 		body.start_automove(target)
 
 /datum/mob_controller/aggressive/commanded/proc/commanded_stop() //basically a proc that runs whenever we are asked to stay put. Probably going to remain unused.
@@ -125,12 +125,14 @@
 			LAZYADD(., weakref(M))
 
 /datum/mob_controller/aggressive/commanded/find_target()
+	SHOULD_CALL_PARENT(FALSE)
+	next_target_scan_time = world.time + target_scan_delay
 	if(!LAZYLEN(_allowed_targets))
 		return null
 	var/mode = "specific"
 	if(LAZYACCESS(_allowed_targets, 1) == "everyone") //we have been given the golden gift of murdering everything. Except our master, of course. And our friends. So just mostly everyone.
 		mode = "everyone"
-	for(var/atom/A in list_targets(10))
+	for(var/atom/A in get_raw_target_list())
 		if(A == src)
 			continue
 		if(isliving(A))
diff --git a/code/datums/movement/automove_controller.dm b/code/datums/movement/automove_controller.dm
index 08dae443f35..b413d999849 100644
--- a/code/datums/movement/automove_controller.dm
+++ b/code/datums/movement/automove_controller.dm
@@ -1,7 +1,8 @@
 /// Implements automove logic; can be overridden on mob procs if you want to vary the logic from the below.
 /decl/automove_controller
-	var/completion_signal = FALSE // Set to TRUE if you want movement to stop processing when the atom reaches its target.
-	var/failure_signal    = FALSE // Set to TRUE if you want movement to stop processing when the atom fails to move.
+	var/completion_signal   = FALSE // Set to TRUE if you want movement to stop processing when the atom reaches its target.
+	var/failure_signal      = FALSE // Set to TRUE if you want movement to stop processing when the atom fails to move.
+	var/try_avoid_obstacles = TRUE  // Will try to move 90 degrees around an obstacle.
 
 /decl/automove_controller/proc/handle_mover(atom/movable/mover, datum/automove_metadata/metadata)
 
@@ -49,14 +50,16 @@
 				return TRUE // no idea how we would get into this position
 
 		if(mover.SelfMove(target_dir) && (old_loc != mover.loc))
-			return TRUE
+			mover.handle_post_automoved(old_loc)
+			return (mover.get_automove_target() == mover.loc) // We may have transitioned to the next step in a path.
 
-		// Try to move around any obstacle.
-		var/static/list/_alt_dir_rot = list(45, -45)
-		for(var/alt_dir in shuffle(_alt_dir_rot))
-			mover.reset_movement_delay()
-			if(mover.SelfMove(turn(target_dir, alt_dir)) && (old_loc != mover.loc))
-				return TRUE
+		if(try_avoid_obstacles)
+			// Try to move around any obstacle.
+			var/static/list/_alt_dir_rot = list(45, -45)
+			for(var/alt_dir in shuffle(_alt_dir_rot))
+				mover.reset_movement_delay()
+				if(mover.SelfMove(turn(target_dir, alt_dir)) && (old_loc != mover.loc))
+					return TRUE
 
 		mover.failed_automove()
 
diff --git a/code/game/atoms_movable.dm b/code/game/atoms_movable.dm
index d2be93779da..0c98725538c 100644
--- a/code/game/atoms_movable.dm
+++ b/code/game/atoms_movable.dm
@@ -581,6 +581,9 @@
 	if(!.) // If we're under or inside shelter, use the z-level rain (for ambience)
 		. = SSweather.weather_by_z[my_turf.z]
 
+/atom/movable/proc/handle_post_automoved(atom/old_loc)
+	return
+
 /atom/movable/take_vaporized_reagent(reagent, amount)
 	if(ATOM_IS_OPEN_CONTAINER(src))
 		return loc?.take_vaporized_reagent(reagent, amount)
diff --git a/code/game/turfs/turf_navigation.dm b/code/game/turfs/turf_navigation.dm
new file mode 100644
index 00000000000..9085f6b99d9
--- /dev/null
+++ b/code/game/turfs/turf_navigation.dm
@@ -0,0 +1,62 @@
+/******************************************************************/
+// Navigation procs
+// Used for A-star pathfinding
+
+// Returns the surrounding cardinal turfs with open links
+// Including through doors openable with the ID
+/turf/proc/CardinalTurfsWithAccess(var/obj/item/card/id/ID)
+	var/L[] = new()
+
+	for(var/d in global.cardinal)
+		var/turf/T = get_step(src, d)
+		if(istype(T) && !T.density && T.simulated && !LinkBlockedWithAccess(src, T, ID))
+			L.Add(T)
+	return L
+
+
+// Returns true if a link between A and B is blocked
+// Movement through doors allowed if ID has access
+/proc/LinkBlockedWithAccess(turf/A, turf/B, obj/item/card/id/ID)
+
+	if(A == null || B == null) return 1
+	var/adir = get_dir(A,B)
+	var/rdir = get_dir(B,A)
+	if((adir & (NORTH|SOUTH)) && (adir & (EAST|WEST)))	//	diagonal
+		var/iStep = get_step(A,adir&(NORTH|SOUTH))
+		if(!LinkBlockedWithAccess(A,iStep, ID) && !LinkBlockedWithAccess(iStep,B,ID))
+			return 0
+
+		var/pStep = get_step(A,adir&(EAST|WEST))
+		if(!LinkBlockedWithAccess(A,pStep,ID) && !LinkBlockedWithAccess(pStep,B,ID))
+			return 0
+		return 1
+
+	if(DirBlockedWithAccess(A,adir, ID))
+		return 1
+
+	if(DirBlockedWithAccess(B,rdir, ID))
+		return 1
+
+	for(var/obj/O in B)
+		if(O.density && !istype(O, /obj/machinery/door) && !(O.atom_flags & ATOM_FLAG_CHECKS_BORDER))
+			return 1
+
+	return 0
+
+// Returns true if direction is blocked from loc
+// Checks doors against access with given ID
+/proc/DirBlockedWithAccess(turf/loc,var/dir,var/obj/item/card/id/ID)
+	for(var/obj/structure/window/D in loc)
+		if(!D.density)			continue
+		if(D.dir == SOUTHWEST)	return 1
+		if(D.dir == dir)		return 1
+
+	for(var/obj/machinery/door/D in loc)
+		if(!D.density)			continue
+		if(istype(D, /obj/machinery/door/window))
+			if( dir & D.dir )	return !D.check_access(ID)
+
+			//if((dir & SOUTH) && (D.dir & (EAST|WEST)))		return !D.check_access(ID)
+			//if((dir & EAST ) && (D.dir & (NORTH|SOUTH)))	return !D.check_access(ID)
+		else return !D.check_access(ID)	// it's a real, air blocking door
+	return 0
diff --git a/code/modules/integrated_electronics/subtypes/smart.dm b/code/modules/integrated_electronics/subtypes/smart.dm
index 25f9dca52a4..f92af368dcd 100644
--- a/code/modules/integrated_electronics/subtypes/smart.dm
+++ b/code/modules/integrated_electronics/subtypes/smart.dm
@@ -96,6 +96,10 @@
 	return ..()
 
 /obj/item/integrated_circuit/smart/advanced_pathfinder/do_work()
+
+	if(waiting_for_path)
+		return
+
 	if(!assembly)
 		activate_pin(3)
 		return
@@ -119,20 +123,30 @@
 	if(Pl&&islist(Pl))
 		idc.access = Pl
 	var/turf/a_loc = get_turf(assembly)
-	var/list/P = AStar(a_loc, locate(get_pin_data(IC_INPUT, 1), get_pin_data(IC_INPUT, 2), a_loc.z), TYPE_PROC_REF(/turf, CardinalTurfsWithAccess), TYPE_PROC_REF(/turf, Distance), 0, 200, id=idc, exclude=get_turf(get_pin_data_as_type(IC_INPUT, 3, /atom)))
+	SSpathfinding.enqueue_mover(
+		src,
+		locate(get_pin_data(IC_INPUT, 1), get_pin_data(IC_INPUT, 2), a_loc.z),
+		new /datum/pathfinding_metadata(
+			_max_node_depth = 200,
+			_id             = idc,
+			_obstacle       = get_turf(get_pin_data_as_type(IC_INPUT, 3, /atom))
+		)
+	)
 
-	if(!P)
-		activate_pin(3)
-		return
-	else
-		var/list/Xn =  new/list(P.len)
-		var/list/Yn =  new/list(P.len)
-		var/turf/T
-		for(var/i =1 to P.len)
-			T=P[i]
-			Xn[i] = T.x
-			Yn[i] = T.y
-		set_pin_data(IC_OUTPUT, 1, Xn)
-		set_pin_data(IC_OUTPUT, 2, Yn)
-		push_data()
-		activate_pin(2)
+/obj/item/integrated_circuit/smart/advanced_pathfinder/path_not_found()
+	..()
+	activate_pin(3)
+
+/obj/item/integrated_circuit/smart/advanced_pathfinder/path_found(list/path)
+	..()
+	var/list/Xn =  new/list(path.len)
+	var/list/Yn =  new/list(path.len)
+	var/turf/T
+	for(var/i = 1 to path.len)
+		T=path[i]
+		Xn[i] = T.x
+		Yn[i] = T.y
+	set_pin_data(IC_OUTPUT, 1, Xn)
+	set_pin_data(IC_OUTPUT, 2, Yn)
+	push_data()
+	activate_pin(2)
diff --git a/code/modules/mob/living/bot/bot.dm b/code/modules/mob/living/bot/bot.dm
index fab8219c169..cfe9577d41c 100644
--- a/code/modules/mob/living/bot/bot.dm
+++ b/code/modules/mob/living/bot/bot.dm
@@ -242,7 +242,7 @@
 		resetTarget()
 		lookForTargets()
 		if(will_patrol && !LAZYLEN(grabbed_by) && !target)
-			if(patrol_path && patrol_path.len)
+			if(length(patrol_path))
 				for(var/i = 1 to patrol_speed)
 					sleep(20 / (patrol_speed + 1))
 					handlePatrol()
@@ -266,7 +266,7 @@
 	if(!target || !target.loc)
 		return
 	if(get_dist(src, target) > min_target_dist)
-		if(!target_path.len || get_turf(target) != target_path[target_path.len])
+		if(!length(target_path) || get_turf(target) != target_path[target_path.len])
 			calcTargetPath()
 		if(makeStep(target_path))
 			frustration = 0
@@ -297,9 +297,9 @@
 	return
 
 /mob/living/bot/proc/startPatrol()
-	var/turf/T = getPatrolTurf()
-	if(T)
-		patrol_path = AStar(get_turf(loc), T, TYPE_PROC_REF(/turf, CardinalTurfsWithAccess), TYPE_PROC_REF(/turf, Distance), 0, max_patrol_dist, id = botcard, exclude = obstacle)
+	var/turf/target_turf = getPatrolTurf()
+	if(target_turf)
+		patrol_path = SSpathfinding.find_path_immediate(start = get_turf(loc), end = target_turf, max_node_depth = max_patrol_dist, id = botcard, exclude = obstacle, check_tick = TRUE)
 		if(!patrol_path)
 			patrol_path = list()
 		obstacle = null
@@ -331,23 +331,22 @@
 	return
 
 /mob/living/bot/proc/calcTargetPath()
-	target_path = AStar(get_turf(loc), get_turf(target), TYPE_PROC_REF(/turf, CardinalTurfsWithAccess), TYPE_PROC_REF(/turf, Distance), 0, max_target_dist, id = botcard, exclude = obstacle)
-	if(!target_path)
-		if(target && target.loc)
-			ignore_list |= target
-		resetTarget()
-		obstacle = null
-	return
+	target_path = SSpathfinding.find_path_immediate(start = get_turf(loc), end = get_turf(target), max_node_depth = max_target_dist, min_target_dist = min_target_dist, id = botcard, exclude = obstacle, check_tick = TRUE)
+	if(length(target_path))
+		return
+	if(target?.loc)
+		ignore_list |= target
+	resetTarget()
+	obstacle = null
 
 /mob/living/bot/proc/makeStep(var/list/path)
-	if(!path.len)
-		return 0
-	var/turf/T = path[1]
-	if(get_turf(src) == T)
-		path -= T
+	if(!length(path))
+		return FALSE
+	var/turf/target_turf = path[1]
+	if(get_turf(src) == target_turf)
+		path -= target_turf
 		return makeStep(path)
-
-	return step_towards(src, T)
+	return step_towards(src, target_turf)
 
 /mob/living/bot/proc/resetTarget()
 	target = null
@@ -371,70 +370,6 @@
 	set_light(0)
 	update_icon()
 
-/******************************************************************/
-// Navigation procs
-// Used for A-star pathfinding
-
-
-// Returns the surrounding cardinal turfs with open links
-// Including through doors openable with the ID
-/turf/proc/CardinalTurfsWithAccess(var/obj/item/card/id/ID)
-	var/L[] = new()
-
-	for(var/d in global.cardinal)
-		var/turf/T = get_step(src, d)
-		if(istype(T) && !T.density && T.simulated && !LinkBlockedWithAccess(src, T, ID))
-			L.Add(T)
-	return L
-
-
-// Returns true if a link between A and B is blocked
-// Movement through doors allowed if ID has access
-/proc/LinkBlockedWithAccess(turf/A, turf/B, obj/item/card/id/ID)
-
-	if(A == null || B == null) return 1
-	var/adir = get_dir(A,B)
-	var/rdir = get_dir(B,A)
-	if((adir & (NORTH|SOUTH)) && (adir & (EAST|WEST)))	//	diagonal
-		var/iStep = get_step(A,adir&(NORTH|SOUTH))
-		if(!LinkBlockedWithAccess(A,iStep, ID) && !LinkBlockedWithAccess(iStep,B,ID))
-			return 0
-
-		var/pStep = get_step(A,adir&(EAST|WEST))
-		if(!LinkBlockedWithAccess(A,pStep,ID) && !LinkBlockedWithAccess(pStep,B,ID))
-			return 0
-		return 1
-
-	if(DirBlockedWithAccess(A,adir, ID))
-		return 1
-
-	if(DirBlockedWithAccess(B,rdir, ID))
-		return 1
-
-	for(var/obj/O in B)
-		if(O.density && !istype(O, /obj/machinery/door) && !(O.atom_flags & ATOM_FLAG_CHECKS_BORDER))
-			return 1
-
-	return 0
-
-// Returns true if direction is blocked from loc
-// Checks doors against access with given ID
-/proc/DirBlockedWithAccess(turf/loc,var/dir,var/obj/item/card/id/ID)
-	for(var/obj/structure/window/D in loc)
-		if(!D.density)			continue
-		if(D.dir == SOUTHWEST)	return 1
-		if(D.dir == dir)		return 1
-
-	for(var/obj/machinery/door/D in loc)
-		if(!D.density)			continue
-		if(istype(D, /obj/machinery/door/window))
-			if( dir & D.dir )	return !D.check_access(ID)
-
-			//if((dir & SOUTH) && (D.dir & (EAST|WEST)))		return !D.check_access(ID)
-			//if((dir & EAST ) && (D.dir & (NORTH|SOUTH)))	return !D.check_access(ID)
-		else return !D.check_access(ID)	// it's a real, air blocking door
-	return 0
-
 /mob/living/bot/GetIdCards(list/exceptions)
 	. = ..()
 	if(istype(botcard) && !is_type_in_list(botcard, exceptions))
diff --git a/code/modules/mob/living/bot/cleanbot.dm b/code/modules/mob/living/bot/cleanbot.dm
index e989ba53b32..0381d5de33f 100644
--- a/code/modules/mob/living/bot/cleanbot.dm
+++ b/code/modules/mob/living/bot/cleanbot.dm
@@ -43,11 +43,14 @@
 
 /mob/living/bot/cleanbot/confirmTarget(var/obj/effect/decal/cleanable/D)
 	if(!..())
-		return 0
+		return FALSE
+	if(istype(D, /obj/effect/decal/cleanable/dirt))
+		var/obj/effect/decal/cleanable/dirt/dirt = D
+		return dirt.dirt_amount >= 25
 	for(var/T in target_types)
 		if(istype(D, T))
-			return 1
-	return 0
+			return TRUE
+	return FALSE
 
 /mob/living/bot/cleanbot/handleAdjacentTarget()
 	if(get_turf(target) == src.loc)
diff --git a/code/modules/mob/living/bot/farmbot.dm b/code/modules/mob/living/bot/farmbot.dm
index 86a8a941189..0e027aa687b 100644
--- a/code/modules/mob/living/bot/farmbot.dm
+++ b/code/modules/mob/living/bot/farmbot.dm
@@ -123,24 +123,6 @@
 				target = source
 				return
 
-/mob/living/bot/farmbot/calcTargetPath() // We need to land NEXT to the tray, because the tray itself is impassable
-	for(var/trayDir in list(NORTH, SOUTH, EAST, WEST))
-		target_path = AStar(get_turf(loc), get_step(get_turf(target), trayDir), TYPE_PROC_REF(/turf, CardinalTurfsWithAccess), TYPE_PROC_REF(/turf, Distance), 0, max_target_dist, id = botcard)
-		if(target_path)
-			break
-	if(!target_path)
-		ignore_list |= target
-		target = null
-		target_path = list()
-	return
-
-/mob/living/bot/farmbot/stepToTarget() // Same reason
-	var/turf/T = get_turf(target)
-	if(!target_path.len || !T.Adjacent(target_path[target_path.len]))
-		calcTargetPath()
-	makeStep(target_path)
-	return
-
 /mob/living/bot/farmbot/UnarmedAttack(var/atom/A, var/proximity)
 	. = ..()
 	if(.)
diff --git a/code/modules/mob/living/bot/mulebot.dm b/code/modules/mob/living/bot/mulebot.dm
index bb9cf31e58e..437ef616451 100644
--- a/code/modules/mob/living/bot/mulebot.dm
+++ b/code/modules/mob/living/bot/mulebot.dm
@@ -183,7 +183,7 @@
 
 /mob/living/bot/mulebot/calcTargetPath()
 	..()
-	if(!target_path.len && target != home) // I presume that target is not null
+	if(!length(target_path) && target != home) // I presume that target is not null
 		resetTarget()
 		target = home
 		targetName = "Home"
diff --git a/code/modules/mob/living/living.dm b/code/modules/mob/living/living.dm
index f63669fb746..a8af9c4657a 100644
--- a/code/modules/mob/living/living.dm
+++ b/code/modules/mob/living/living.dm
@@ -1359,11 +1359,6 @@ default behaviour is:
 			return FALSE
 	return TRUE
 
-//gets name from ID or PDA itself, ID inside PDA doesn't matter
-//Useful when player is being seen by other mobs
-/mob/living/proc/get_id_name(if_no_id = "Unknown")
-	return GetIdCard(exceptions = list(/obj/item/holder))?.registered_name || if_no_id
-
 /mob/living/get_default_temperature_threshold(threshold)
 	if(isSynthetic())
 		switch(threshold)
diff --git a/code/modules/mob/living/simple_animal/hostile/bear.dm b/code/modules/mob/living/simple_animal/hostile/bear.dm
index c32b39b1a42..2f79162b6c9 100644
--- a/code/modules/mob/living/simple_animal/hostile/bear.dm
+++ b/code/modules/mob/living/simple_animal/hostile/bear.dm
@@ -64,7 +64,7 @@
 			stop_wandering()
 			stance_step++
 			if(stance_step >= 20)
-				if(target && (target in list_targets(10)))
+				if(target && (target in get_raw_target_list()))
 					set_stance(STANCE_ATTACK) //If the mob he was chasing is still nearby, resume the attack, otherwise go idle.
 				else
 					set_stance(STANCE_IDLE)
@@ -72,7 +72,7 @@
 		if(STANCE_ALERT)
 			stop_wandering()
 			var/found_mob = 0
-			if(target && (target in list_targets(10)))
+			if(target && (target in get_raw_target_list()))
 				if(!attackable(target))
 					stance_step = max(0, stance_step) //If we have not seen a mob in a while, the stance_step will be negative, we need to reset it to 0 as soon as we see a mob again.
 					stance_step++
diff --git a/code/modules/mob/living/simple_animal/hostile/commanded/nanomachines.dm b/code/modules/mob/living/simple_animal/hostile/commanded/nanomachines.dm
index f504d63398e..1145b90b6e8 100644
--- a/code/modules/mob/living/simple_animal/hostile/commanded/nanomachines.dm
+++ b/code/modules/mob/living/simple_animal/hostile/commanded/nanomachines.dm
@@ -52,8 +52,8 @@
 		if(LAZYLEN(targets) != 1)
 			body.say("ERROR. TARGET COULD NOT BE PARSED.")
 			return 0
-		var/weakref/target_ref = targets[1]
-		set_target(target_ref.resolve())
+		var/weakref/single_target_ref = targets[1]
+		set_target(single_target_ref.resolve())
 		set_stance(STANCE_COMMANDED_HEAL)
 		return 1
 	if(findtext(text,"emergency protocol"))
diff --git a/code/modules/mob/living/simple_animal/hostile/giant_spiders/ai_guard.dm b/code/modules/mob/living/simple_animal/hostile/giant_spiders/ai_guard.dm
index be65f62f707..b828ae9e7b0 100644
--- a/code/modules/mob/living/simple_animal/hostile/giant_spiders/ai_guard.dm
+++ b/code/modules/mob/living/simple_animal/hostile/giant_spiders/ai_guard.dm
@@ -23,7 +23,7 @@
 		paired_nurse = null
 
 /datum/mob_controller/aggressive/giant_spider/guard/proc/find_nurse()
-	for(var/mob/living/simple_animal/hostile/giant_spider/nurse/nurse in list_targets(10))
+	for(var/mob/living/simple_animal/hostile/giant_spider/nurse/nurse in get_raw_target_list())
 		if(nurse.stat || !istype(nurse.ai, /datum/mob_controller/aggressive/giant_spider/nurse))
 			continue
 		var/datum/mob_controller/aggressive/giant_spider/nurse/nurse_ai = nurse.ai
diff --git a/code/modules/mob/living/simple_animal/hostile/hivebots/megabot.dm b/code/modules/mob/living/simple_animal/hostile/hivebots/megabot.dm
index 091230eca45..ead786ab340 100644
--- a/code/modules/mob/living/simple_animal/hostile/hivebots/megabot.dm
+++ b/code/modules/mob/living/simple_animal/hostile/hivebots/megabot.dm
@@ -26,7 +26,7 @@
 /datum/mob_controller/aggressive/megahivebot
 	can_escape_buckles = TRUE
 
-/datum/mob_controller/aggressive/megahivebot/open_fire()
+/datum/mob_controller/aggressive/megahivebot/handle_ranged_target(atom/ranged_target)
 	var/mob/living/simple_animal/hostile/hivebot/mega/megabot = body
 	if(!istype(megabot))
 		return ..()
diff --git a/code/modules/mob/living/simple_animal/hostile/mimic.dm b/code/modules/mob/living/simple_animal/hostile/mimic.dm
index c2e2b3c5a18..88defeeaf28 100644
--- a/code/modules/mob/living/simple_animal/hostile/mimic.dm
+++ b/code/modules/mob/living/simple_animal/hostile/mimic.dm
@@ -45,7 +45,7 @@ var/global/list/protected_objects = list(
 	var/awake = TRUE
 
 // Return a list of targets that isn't the creator
-/datum/mob_controller/aggressive/mimic/list_targets(var/dist = 7)
+/datum/mob_controller/aggressive/mimic/get_valid_targets()
 	var/mob/living/simple_animal/hostile/mimic/mimic = body
 	. = istype(mimic) && mimic.awake && ..()
 	if(length(.) && mimic.creator)
diff --git a/code/modules/mob/living/simple_animal/hostile/retaliate/drone.dm b/code/modules/mob/living/simple_animal/hostile/retaliate/drone.dm
index 498adac96b3..e3f5b4fe9ff 100644
--- a/code/modules/mob/living/simple_animal/hostile/retaliate/drone.dm
+++ b/code/modules/mob/living/simple_animal/hostile/retaliate/drone.dm
@@ -54,8 +54,15 @@
 /mob/living/simple_animal/hostile/malf_drone/has_ranged_attack()
 	return TRUE
 
-/datum/mob_controller/aggressive/malf_drone/list_targets(var/dist = 7)
-	. = ..(hostile_drone ? hostile_range : dist)
+/datum/mob_controller/aggressive/malf_drone/get_raw_target_list()
+	if(hostile_drone)
+		target_scan_distance = hostile_range
+	else
+		target_scan_distance = initial(target_scan_distance)
+	. = ..()
+
+/datum/mob_controller/aggressive/malf_drone/get_valid_targets()
+	. = ..()
 	for(var/mob/M in .)
 		if(istype(M, body.type))
 			. -= M
diff --git a/code/modules/mob/living/simple_animal/hostile/slug.dm b/code/modules/mob/living/simple_animal/hostile/slug.dm
index 8384fc93a6c..4218f9176bf 100644
--- a/code/modules/mob/living/simple_animal/hostile/slug.dm
+++ b/code/modules/mob/living/simple_animal/hostile/slug.dm
@@ -23,13 +23,14 @@
 	try_destroy_surroundings = FALSE
 	can_escape_buckles = TRUE
 
-/datum/mob_controller/aggressive/slug/list_targets(var/dist = 7)
+/datum/mob_controller/aggressive/slug/valid_target(atom/A)
 	. = ..()
-	var/mob/living/simple_animal/hostile/slug/slug = body
-	if(istype(slug))
-		for(var/mob/living/M in .)
-			if(slug.check_friendly_species(M))
-				. -= M
+	if(.)
+		if(!ismob(A))
+			return FALSE
+		var/mob/living/simple_animal/hostile/slug/slug = body
+		if(slug.check_friendly_species(A))
+			return FALSE
 
 /mob/living/simple_animal/hostile/slug/proc/check_friendly_species(var/mob/living/M)
 	return istype(M) && M.faction == faction
diff --git a/code/modules/mob/mob.dm b/code/modules/mob/mob.dm
index edf74c14dd0..35df33c80fa 100644
--- a/code/modules/mob/mob.dm
+++ b/code/modules/mob/mob.dm
@@ -1395,5 +1395,10 @@
 /mob/proc/handle_footsteps()
 	return
 
+//gets name from ID or PDA itself, ID inside PDA doesn't matter
+//Useful when player is being seen by other mobs
+/mob/proc/get_id_name(if_no_id = "Unknown")
+	return GetIdCard(exceptions = list(/obj/item/holder))?.registered_name || if_no_id
+
 /mob/proc/can_twohand_item(obj/item/item)
 	return FALSE
diff --git a/code/modules/mob/mob_automove.dm b/code/modules/mob/mob_automove.dm
index ff8d1a6d7ba..f552d4f7c1e 100644
--- a/code/modules/mob/mob_automove.dm
+++ b/code/modules/mob/mob_automove.dm
@@ -6,18 +6,60 @@
 	_automove_target = null
 	return ..()
 
+/mob/path_found(list/path)
+	..()
+	if(islist(path) && length(path) > 1)
+		path.Cut(1, 2) // Remove the first turf since it's going to be our origin.
+		if(length(path))
+			start_automove(path)
+
+/mob/path_not_found()
+	..()
+	stop_automove()
+
 /// Called by get_movement_delay() to override the current move intent, in cases where an automove has a delay override.
 /mob/proc/get_automove_delay()
 	var/datum/automove_metadata/metadata = SSautomove.moving_metadata[src]
 	return metadata?.move_delay
 
+/mob/failed_automove()
+	..()
+	stop_automove()
+	_automove_target = null
+	return FALSE
+
 /mob/start_automove(target, movement_type, datum/automove_metadata/metadata)
 	_automove_target = target
 	return ..()
 
 // The AI datum may decide to track a target instead of using the mob reference.
 /mob/get_automove_target(datum/automove_metadata/metadata)
-	. = (istype(ai) && ai.get_automove_target()) || _automove_target || ..()
+	. = _automove_target || (istype(ai) && ai.get_automove_target()) || ..()
+	if(islist(.))
+		var/list/path = .
+		while(length(path) && path[1] == get_turf(src))
+			path.Cut(1,2)
+		if(length(path))
+			return path[1]
+		return null
+
+/mob/handle_post_automoved(atom/old_loc)
+	if(istype(ai))
+		ai.handle_post_automoved(old_loc)
+		return
+	if(!islist(_automove_target) || length(_automove_target) <= 0)
+		return
+	var/turf/body_turf = get_turf(src)
+	if(!istype(body_turf))
+		return
+	var/list/_automove_target_list = _automove_target
+	if(_automove_target_list[1] != body_turf)
+		return
+	if(length(_automove_target_list) > 1)
+		_automove_target_list.Cut(1, 2)
+	else
+		_automove_target_list = null
+		stop_automove()
 
 // We do some early checking here to avoid doing the same checks repeatedly by calling SelfMove().
 /mob/can_do_automated_move(variant_move_delay)
diff --git a/code/procs/AStar.dm b/code/procs/pathfinding.dm
similarity index 78%
rename from code/procs/AStar.dm
rename to code/procs/pathfinding.dm
index 01e4213f805..7732761b8d3 100644
--- a/code/procs/AStar.dm
+++ b/code/procs/pathfinding.dm
@@ -5,14 +5,14 @@ A Star pathfinding algorithm
 Returns a list of tiles forming a path from A to B, taking dense objects as well as walls, and the orientation of
 windows along the route into account.
 Use:
-your_list = AStar(start location, end location, adjacent turf proc, distance proc)
+your_list = find_path_astar(start location, end location, adjacent turf proc, distance proc)
 For the adjacent turf proc i wrote:
 /turf/proc/AdjacentTurfs
 And for the distance one i wrote:
 /turf/proc/Distance
 So an example use might be:
 
-src.path_list = AStar(src.loc, target.loc, TYPE_PROC_REF(/turf, AdjacentTurfs), TYPE_PROC_REF(/turf, Distance))
+src.path_list = find_path_astar(src.loc, target.loc, TYPE_PROC_REF(/turf, AdjacentTurfs), TYPE_PROC_REF(/turf, Distance))
 
 Note: The path is returned starting at the END node, so i wrote reverselist to reverse it for ease of use.
 
@@ -60,7 +60,12 @@ length to avoid portals or something i guess?? Not that they're counted right no
 /proc/PathWeightCompare(PathNode/a, PathNode/b)
 	return a.estimated_cost - b.estimated_cost
 
-/proc/AStar(var/start, var/end, adjacent, dist, var/max_nodes, var/max_node_depth = 30, var/min_target_dist = 0, var/min_node_dist, var/id, var/datum/exclude)
+/proc/find_path_astar_async(start, end, adjacent, dist, max_nodes, max_node_depth = 30, min_target_dist = 0, min_node_dist, id, datum/exclude)
+	set waitfor = FALSE
+	return find_path_astar(start, end, adjacent, dist, max_nodes, max_node_depth, min_target_dist, min_node_dist, id, exclude, check_tick = TRUE)
+
+/proc/find_path_astar(start, end, adjacent, dist, max_nodes, max_node_depth = 30, min_target_dist = 0, min_node_dist, id, datum/exclude, check_tick = FALSE)
+
 	var/datum/priority_queue/open = new /datum/priority_queue(/proc/PathWeightCompare)
 	var/list/closed = list()
 	var/list/path
@@ -85,13 +90,11 @@ length to avoid portals or something i guess?? Not that they're counted right no
 				path[index--] = current.position
 			break
 
-		if(min_node_dist && max_node_depth)
-			if(call(current.position, min_node_dist)(end) + current.nodes_traversed >= max_node_depth)
-				continue
+		if(min_node_dist && max_node_depth && (call(current.position, min_node_dist)(end) + current.nodes_traversed >= max_node_depth))
+			continue
 
-		if(max_node_depth)
-			if(current.nodes_traversed >= max_node_depth)
-				continue
+		if(max_node_depth && current.nodes_traversed >= max_node_depth)
+			continue
 
 		for(var/datum/datum in call(current.position, adjacent)(id))
 			if(datum == exclude)
@@ -115,4 +118,9 @@ length to avoid portals or something i guess?? Not that they're counted right no
 			if(max_nodes && open.Length() > max_nodes)
 				open.Remove(open.Length())
 
+			if(check_tick)
+				CHECK_TICK
+		if(check_tick)
+			CHECK_TICK
+
 	return path
diff --git a/nebula.dme b/nebula.dme
index f083035f50c..9c6652668d1 100644
--- a/nebula.dme
+++ b/nebula.dme
@@ -284,6 +284,7 @@
 #include "code\controllers\subsystems\mapping.dm"
 #include "code\controllers\subsystems\misc_late.dm"
 #include "code\controllers\subsystems\overlays.dm"
+#include "code\controllers\subsystems\pathfinding.dm"
 #include "code\controllers\subsystems\plants.dm"
 #include "code\controllers\subsystems\radiation.dm"
 #include "code\controllers\subsystems\shuttle.dm"
@@ -358,7 +359,13 @@
 #include "code\datums\type_cloning.dm"
 #include "code\datums\weakref.dm"
 #include "code\datums\ai\_ai.dm"
+#include "code\datums\ai\_ai_enemies.dm"
+#include "code\datums\ai\_ai_friends.dm"
+#include "code\datums\ai\_ai_memory.dm"
+#include "code\datums\ai\_ai_pathfinding.dm"
 #include "code\datums\ai\_ai_stance.dm"
+#include "code\datums\ai\_ai_targets.dm"
+#include "code\datums\ai\_ai_wander.dm"
 #include "code\datums\ai\aggressive.dm"
 #include "code\datums\ai\beast.dm"
 #include "code\datums\ai\commanded.dm"
@@ -1565,6 +1572,7 @@
 #include "code\game\turfs\turf_footsteps.dm"
 #include "code\game\turfs\turf_height.dm"
 #include "code\game\turfs\turf_material.dm"
+#include "code\game\turfs\turf_navigation.dm"
 #include "code\game\turfs\turf_ramps.dm"
 #include "code\game\turfs\unsimulated.dm"
 #include "code\game\turfs\flooring\_flooring.dm"
@@ -4002,9 +4010,9 @@
 #include "code\modules\ZAS\Variable Settings.dm"
 #include "code\modules\ZAS\Zone.dm"
 #include "code\procs\announce.dm"
-#include "code\procs\AStar.dm"
 #include "code\procs\dbcore.dm"
 #include "code\procs\hud.dm"
+#include "code\procs\pathfinding.dm"
 #include "code\procs\radio.dm"
 #include "code\unit_tests\_defines.dm"
 #include "code\unit_tests\_includes.dm"