private ArrayDeque<Action> deliverFoodPlan(){
    return searchForGoal(new SearchGoal(){
      @Override
      public boolean isGoal(Position p){
        // We have reached the goal when we have returned to the anthill.
        return (p.getX() == 0 && p.getY() == 0);
      }

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