Implemented result-based processing for the client. It seems the navigation stack has its own pathfinding computation, so I left out A* for now. It also should be able to determine whether it is stuck, so everything is based off of whether more centroids can be found. Pending is iteration through the centroid list if one is rejected.
Added a function to process through the list of centroids if one is rejected. If the list is emptied with all being rejected, then the program is finished, as no reachable frontiers exist. At least according to what I could glean from the scant documentation...