@article{IFM-J-2009-ColvinH11,
	author        = "Robert Colvin and Ian J. Hayes",
	doi           = "10.1016/j.scico.2010.11.007",
	journal       = "{Science of Computer Programming}",
	number        = 10,
	pages         = "891--914",
	series        = "{Lecture Notes in Computer Science}",
	title         = "{A semantics for Behavior Trees using CSP with specification commands}",
	volume        = 76,
	year          = 2011,
}