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

Behavior tree

Source

BehaviorTree.CPP is a flexible C++ library that can be used to create complex and flexible behavior trees. Website