Behavior Treesare increasingly used in place of finite state machines (FSM's) and other AIcontrol architectures due to improved properties of modularity, flexibility,reusability, and efficiency of implementation. They enable design/development scalability and efficiency and are a unique combination of state space representation and reasoning (action-selection decision-scheme, where the user can customize the logic for traversal and lifecycle management).

• CraftAI BT Grammar Basics

• Behavior Tree Starter Kit (BTSK) and correspondingprovided source code and in particularthis file.

• BTSK Video

• Elixir Behavior Tree and the correspondingelixirconf talk

• Unified BT Framework

• Parameterizing BT's

• Lessons Learned on previous attempts

march down a prioritized list of the children. The firstone that can run, does, but higher-priority siblings can always interruptthe winner on subsequent ticks.

run each of the children in order, skipping those that are notcurrently relevant (and never revisiting it). When we reach the end of thelist, the parent behavior is finished.

same as above, but when we reach the end of the list, we start again.

a random choice is made from among the relevant children. (Markovian Framework?)

pick in a random or prioritized way but never repeat the same choice.