private ArrayDeque<Action> deliverFoodPlan(){
    return searchForGoal(new SearchGoal(){
      @Override
      public boolean isGoal(Position p){
        return (anthill.manhattanDistance(p) <= radius && 
                (Math.abs(p.getX()) < 5 ||
                Math.abs(p.getY()) < 5)
                );
      }

      @Override
      public String planName(){
        return "Deliver Food";
      }
    });
  }