Moving agents around the map

I have a map that consists of rooms, hallways and stairs leading down to the next floor.

Is there a simpler way to move the agents around? I know you can setup points along the map they can move to. Seems like a lot of work.

I suggest you create such graph manually.
An algorithm that would automatically generate pathes for agents would be complex.

Can you do it without the use of graphics or paths?

Yes, if you want it to be much more complex :wink:
Note that this is no longer OpenGL related topic. I suggest you should search gamedev forums or try posting there.