yes but the AI wont generally run to a closed door as they consider it an obstacle so it would still be pretty random that they would cause it to open.
i tried it once by cheating and turning the collision off if the player (not the AI) wasn't near the door and they do then try to get through the door but it also lets them fire through it....
the best result would be from a rewrite of the AI for an indoor environment but that wouldn't be a quick task.
if you mean while on patrol (following waypoints) and ignoring the aggro logic then yes it can work fairly well
