=============
Behavior Tree
=============

Behaviour tree is a mathematical model of plan execution used in computer science, robotics, control systems and video games. 

* Behavior trees 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 with the key difference  
  that the main building block of a behavior is a task rather than a state


.. figure:: images/behavior_tree.png   
   :alt: Behavior tree   
   
   `Source <https://www.gamedeveloper.com/programming/behavior-trees-for-ai-how-they-work/>`_


**BehaviorTree.CPP** is a flexible C++ library that can be used to create complex and flexible behavior trees.
`Website <https://www.behaviortree.dev/>`_