PathTracker AI Improvements

Added AI modes, currently only Tracking. Many bugs to fix.
Revert "PathTracker AI Improvements"

This reverts commit f26ffeb2d1ac0d0694e71b06c7430648c74c9201.
Revert "Revert "PathTracker AI Improvements""

This reverts commit 8b63bbc109761f03749444438b4a2d17681e59ee.