Well yes it is oriented towards agent to agent avoidance and not enviroment avoidance although the circular objects could be used for rts buildings but in general i would say agent to agent restrained to a path , i saw a demo that used bitmaps for a vehicle to move on a track with obsticles .. I am not sure it would be a very usefull plugin more than agent to agent and perhaps vehicles on a terrain..
Without polygonal collision shapes it could be a waste of my time