Overcoming Pitfalls in Behavior Tree Design

Anthony Francis

9.1  Introduction

Unless you have been living under a rock, or are new to the game industry, you have probably heard of behavior trees (Isla 2005, Champandard and Dunstan 2012). Behavior trees are an architecture for controlling NPCs based on a hierarchical graph of tasks, where each task is either an atomic, a simple behavior an agent can directly perform, or a composite, a behavior performed by a lower level behavior tree of arbitrary complexity. As they provide a cleaner decomposition of behavior than alternatives such as hierarchical finite-state machines—and ...

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