A semantics for Behavior Trees using CSP with specification commands
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Robert Colvin, Ian J. Hayes
A semantics for Behavior Trees using CSP with specification commands
IFM, 2011.

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@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,
}

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