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That said its been ages since i played the game so i dont know the pattern or when's a good time to sneak in, but you can always pick some guys off while you approach or wait for an opening. If i remember, good use of the low cover should help greatly with sneaking in.
Getting spotted or whatever should not change their routes and they will just do their thing after shooting someone. Aside from that good luck i guess, its one of the most annoying missions (though i recall a DREADFUL elevator/defend mission which took like 10 tries :P).
Oh, you can always, after having lost or played quite a few turns, check their pathing from turn 1 to whatever is the last turn, and determine a pattern from that, but i was simply impatient and ran in when it looked safe. :P