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A Behavior Tree (BT) is a way to structure the switching between different tasks in an autonomous agent, such as a robot or a virtual entity in a computer game.
A method for synthesizing sequential circuits
G. H. Mealy · 1955
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Gedanken-experiments on sequential machines
Edward F Moore · 1956
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Letters to the editor: go to statement considered harmful
Edsger W. Dijkstra · 1968
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A Robust Layered Control System for a Mobile Robot
R. Brooks · 1986
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Statecharts: A visual formalism for complex systems, 1987
David Harel · 1987
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Differential Equations with Discontinuous Righthand Sides: Control Systems
A.F. Filippov and F.M. Arscott · 1988
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Petri nets: Properties, analysis and applications
Tadao Murata · 1989
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Elephants don’t play chess
R.A. Brooks · 1990
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Teleo-reactive programs for agent control
Nils J. Nilsson · 1994
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Evolution strategy
Ingo Rechenberg · 1994
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Convergence analysis of canonical genetic algorithms
Günter Rudolph · 1994
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Reacting, planning, and learning in an autonomous agent
Scott Benson and Nils J Nilsson · 1995
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Machine learning. WCB
Tom M Mitchell · 1997
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Markov Chains
J.R. Norris · 1998
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Reinforcement learning: An introduction
Richard S Sutton and Andrew G Barto · 1998
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Sequential Composition of Dynamically Dexterous Robot Behaviors
Robert R Burridge, Alfred A Rizzi, and Daniel E Koditschek · 1999
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Between mdps and semi-mdps: A framework for temporal abstraction in reinforcement learning
Richard S Sutton, Doina Precup, and Satinder Singh · 1999
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An integrated approach of learning, planning, and execution
Ramon Garcia-Martinez and Daniel Borrajo · 2000
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A Behavior Language for story-based believable agents
M. Mateas and A. Stern · 2002
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Imitation in Animals and Artifacts
Claude Sammut, Scott Hurst, Dana Kedzier, and Donald Michie · 2002
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Recent advances in hierarchical reinforcement learning
Andrew G Barto and Sridhar Mahadevan · 2003
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A genetic algorithm-based approach for building accurate decision trees
Zhiwei Fu, Bruce L Golden, Shreevardhan Lele, S Raghavan, and Edward A Wasil · 2003
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Product modularity: definitions and benefits
JK Gershenson, GJ Prasad, and Y Zhang · 2003
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Simplification Of Teleo-Reactive sequences
Seyed R Mousavi and Krysia Broda · 2003
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Learning to win: Case-based plan selection in a real-time strategy game
David Aha, Matthew Molineaux, and Marc Ponsen · 2005
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Handling Complexity in the Halo 2 AI
Damian Isla · 2005
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Understanding Behavior Trees
A.J. Champandard · 2007
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Tartan racing: A multi-modal approach to the darpa urban challenge
Chris Urmson, J Andrew Bagnell, Christopher R Baker, Martial Hebert, Alonzo Kelly, Raj Rajkumar, Paul E Rybski, Sebastian Scherer, Reid Simmons, Sanjiv Singh, et al · 2007
Cited alongside, same era.
Dynamic expansion of behaviour trees
Gonzalo Flórez-Puga, Marco Gomez-Martin, Belen Diaz-Agudo, and Pedro Gonzalez-Calero · 2008
Cited alongside, same era.
A teleo-reactive architecture for fast, reactive and robust control of mobile robots
Gerhard Gubisch, Gerald Steinbauer, Martin Weiglhofer, and Franz Wotawa · 2008
Cited alongside, same era.
Halo 3-building a Better Battle
Damian Isla · 2008
Cited alongside, same era.
The Sting Racing Team’s Entry to the Urban Challenge
Matthew Powers, Dave Wooden, Magnus Egerstedt, Henrik Christensen, and Tucker Balch · 2012
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Bart - behavior architecture for robotic tasks, https://code.google.com/p/bart/
Thomas Galluzzo, Moslem Kazemi, and Jean-Sebastien Valois · 2013
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Interfacing Behavior Trees with the World Using Description Logic
Andreas Klökner · 2013
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Foresight and reconsideration in hierarchical planning and execution
Martin Levihn, Leslie Pack Kaelbling, Tomas Lozano-Perez, and Mike Stilman · 2013
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Performance Analysis of Stochastic Behavior Trees
Michele Colledanchise, Alejandro Marzinotto, and Petter Ögren · 2014
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The actor’s view of automated planning and acting: A position paper
Malik Ghallab, Dana Nau, and Paolo Traverso · 2014
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An Integrated Agent for Playing Real-Time Strategy Games
Joshua McCoy and Michael Mateas · 2008
Cited alongside, same era.
Junior: The stanford entry in the urban challenge
Michael Montemerlo, Jan Becker, Suhrid Bhat, Hendrik Dahlkamp, Dmitri Dolgov, Scott Ettinger, Dirk Haehnel, Tim Hilden, Gabe Hoffmann, Burkhard Huhnke, et al · 2008
Cited alongside, same era.
Autonomous driving in urban environments: Boss and the urban challenge
Chris Urmson, Joshua Anhalt, Drew Bagnell, Christopher Baker, Robert Bittner, MN Clark, John Dolan, Dave Duggins, Tugrul Galatali, Chris Geyer, et al · 2008
Cited alongside, same era.
Solving navigation tasks with learned teleo-reactive programs
Blanca Vargas and E Morales · 2008
Cited alongside, same era.
Artificial intelligence for games
Ian Millington and John Funge · 2009
Cited alongside, same era.
Probability, Markov chains, queues, and simulation: the mathematical basis of performance modeling
William J Stewart · 2009
Cited alongside, same era.
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Towards a Unified Behavior Trees Framework for Robot Control
Alejandro Marzinotto, Michele Colledanchise, Christian Smith, and Petter Ögren · 2014
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Ch 10, building utility decisions into your existing behavior tree
Bill Merrill · 2014
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Game AI Pro
Steve Rabin · 2014
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Behaviour trees for evolutionary robotics
Kirk Y. W. Scheper, Sjoerd Tijmons, Coen C. de Visser, and Guido C. H. E. de Croon · 2014
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Learning of behavior trees for autonomous agents
Michele Colledanchise, Ramviyas Parasuraman, and Petter Ögren · 2015
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Backward-forward search for manipulation planning
Caelan Reed Garrett, Tomás Lozano-Pérez, and Leslie Pack Kaelbling · 2015
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A framework for end-user instruction of a robot assistant for manufacturing
Kelleher R. Guerin, Colin Lea, Chris Paxton, and Gregory D. Hager · 2015
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Semi-autonomous simulated brain tumor ablation with raven ii surgical robot using behavior tree
Danying Hu, Yuanzheng Gong, Blake Hannaford, and Eric J. Seibel · 2015
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Blended planning and acting: Preliminary approach, research challenges
Dana S. Nau, Malik Ghallab, and Paolo Traverso · 2015
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A framework for constrained and adaptive behavior-based agents
Renato de Pontes Pereira and Paulo Martins Engel · 2015
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Building behavior trees from observations in real-time strategy games
Glen Robertson and Ian Watson · 2015
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Towards blended reactive planning and acting using behavior trees
Michele Colledanchise, Diogo Almeida, and Petter Ögren · 2016
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How behavior trees generalize the teleo-reactive paradigm and and-or-trees
Michele Colledanchise and Petter Ögren · 2016
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Automated Planning and Acting
Malik Ghallab, Dana Nau, and Paolo Traverso · 2016
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Simulation results on selector adaptation in behavior trees
Blake Hannaford, Danying Hu, Dianmu Zhang, and Yangming Li · 2016
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Evolutionary behavior tree approaches for navigating platform games
M. Nicolau, D. Perez-Liebana, M. O’Neill, and A. Brabazon · 2016
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Costar: Instructing collaborative robots with behavior trees and vision
Chris Paxton, Andrew Hundt, Felix Jonathan, Kelleher Guerin, and Gregory D Hager · 2016
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How behavior trees modularize hybrid control systems and generalize sequential behavior compositions, the subsumption architecture, and decision trees
Michele Colledanchise and Petter Ögren · 2017
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Trained behavior trees: Programming by demonstration to support ai game designers
I. Sagredo-Olivenza, P. P. Gomez-Martin, M. A. Gomez-Martin, and P. A. Gonzalez-Calero · 2017
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