private ArrayDeque<Action> findFoodPlan(){
    return searchForGoal(new SearchGoal(){
      @Override
      public boolean isGoal(Position p){
        // We have reached the goal when we have a position with food that is
        // not the anthill.
        return (map.getFood(p.getX(), p.getY()) > 0 && 
                           anthill.manhattanDistance(p) > radius);
      }

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