private void hierarchicalStrategy(Agent a) {
		
		if (a.getCarrying() > -1) {
			a.calcPath(calcXFromCoor(a.getCampLocation()), calcYFromCoor(a.getCampLocation())); // if carrying a Tilia, go to camp
		} 
		else { // go pick up a tilia closest to position
			int coin = 0;
			if (a.isRed()) {
				if (coins_red.size() >= 1) {
					coin = coins_red.extractMin().getlocation();
				}

			} else {
				if (coins_blue.size() >= 1) {
					coin = coins_blue.extractMin().getlocation();
				}

			}
			if (coin == 0) {
				coin = a.getCampLocation();
			}
			a.calcPath(calcXFromCoor(coin), calcYFromCoor(coin));
		}

	}