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Aliased from [Behavior Trees|BehaviorTrees]
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From the description of __[Behaviour Trees]__ on Wikipedia:
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A __behavior tree__ is a [mathematical model|https://en.wikipedia.org/wiki/Mathematical_model]  of  [plan|https://en.wikipedia.org/wiki/Automated_planning_and_scheduling]  execution used in  [computer science|https://en.wikipedia.org/wiki/Computer_science] ,  [robotics|https://en.wikipedia.org/wiki/Robotics] ,  [control systems|https://en.wikipedia.org/wiki/Control_systems]  and  [video games|https://en.wikipedia.org/wiki/Artificial_intelligence_(video_games)]. They describe switchings between a finite set of tasks in a modular 
fashion. Their strength comes from their ability to create very complex tasks composed of simple tasks, without worrying how the simple tasks are implemented. Behavior trees present some similarities to  [hierarchical state machines|https://en.wikipedia.org/wiki/State_machine] 
 with the key difference that the main building block of a behavior is a
 task rather than a state. Its ease of human understanding make behavior
 trees less error prone and very popular in the game developer 
community. Behavior trees have been shown to generalize several other 
control architectures. Mathematically, they are  [directed acyclic graphs|https://en.wikipedia.org/wiki/Directed_acyclic_graph] .


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* [Behavior tree (artificial intelligence, robotics and control)|https://en.wikipedia.org/wiki/Behavior_tree_(artificial_intelligence,_robotics_and_control)] on Wikipedia
* ''[Behavior trees for AI: How they work|https://www.gamedeveloper.com/programming/behavior-trees-for-ai-how-they-work]'' \\  ''An introduction to Behavior Trees, with examples and in-depth descriptions, as well as some tips on creating powerful expressive trees''. by Chris Simpson
* [Behavior Tree Engine|https://github.com/ToyotaResearchInstitute/task_behavior_engine] (in Python) on github
* [How Behavior Trees Modularize Hybrid ControlSystems and Generalize Sequential BehaviorCompositions, the Subsumption Architecture, and Decision Trees|https://www.researchgate.net/publication/309616544_How_Behavior_Trees_Modularize_Hybrid_Control_Systems_and_Generalize_Sequential_Behavior_Compositions_the_Subsumption_Architecture_and_Decision_Trees], Michele Colledanchise and Petter Ögren (PDF)