An option should exist to direct your AI team in single player mode to "clear structure." They would then assemble at various entry points and make a coordinated effort to tactically clear the building.
They would make entry, clear room to room by moving to position of domination within each room, eliminating hostiles and watching for friendly fire. Virtually all combat units are trained to do this.
AI would stack at entry points and make a simultaneous entry, with vocal and hand signals utilized to work together with other elements at different points of entry.