Navigation mesh (NavMesh) is a representation that only covers the walkable surfaces in the game world with convex polygons. Convex polygons guarantee that a character can freely walk from any location within a polygon to any other location with that same polygon. Figure 8 shows an example of using NavMesh to represent the game world. It overcomes the exponential increase in the number of edges in visibility graph when representing an outdoor environment [10]. Thus, one of the advantages of such a representation is that it can handle indoor environments and expansive outdoor areas equally well.