To build a list of those object's transforms at runtime, you could use something like this (if you know the number of waypoints in advance):

// in c#
Transform[] waypoints = new Transform[10];

void Start()
{
    for (int n=0; n < waypoints.Length; ++n)
    {
        waypoints[n] = GameObject.Find("p"+(n+1)).transform;
    }
}


// or in Javascript
var waypoints : Transform[] = new Transform[10];

function Start() {
    for (var n=0; n < waypoints.Length; ++n) {
        waypoints[n] = GameObject.Find("p"+(n+1)).transform;
    }
}

Notes:

• Set the number of waypoints in the line which declares the array (10, in the example above)
• The gameObject lookup is case sensitive, so it will find objects called "p1" to "p10", but not "P1".
• I didn't add code which checks the existence of the objects, so if one of the gameobjects does not exist or is mis-named, you'll get a null reference error.

If you have numerous scenes or situtaions where the number of waypoints might vary, you could modify this code to dynamically discover the number of waypoint objects first, before building the array. That way you wouldn't have to have a hard-coded number in your script which determines the number of waypoints.

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