I think their alertness should be improved as well. Why should they always know you're there immediately if they didn't necessarily spot you. In an ideal world to, navigation meshes for the maps would be the best way to improve available paths and using A* to improve path finding. You'd want to look at obstacle handling, goals etc too. And how to handle existing point spots for NPC's for combat etc. I'm not sure you can do much about having the sith camp the ceiling with this system though. They would have to remain as is in terms of spawning.