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<p>I replied to David and included this link:
<a class="moz-txt-link-freetext" href="https://www.gamedeveloper.com/programming/behavior-trees-for-ai-how-they-work">https://www.gamedeveloper.com/programming/behavior-trees-for-ai-how-they-work</a></p>
<p>Here is a direct link to a C++ implementation I created:
<a class="moz-txt-link-freetext" href="https://bitbucket.org/rmerriam/devr/src/master/robot/mystic_bt/include/">https://bitbucket.org/rmerriam/devr/src/master/robot/mystic_bt/include/</a></p>
<p>A python implementation:
<a class="moz-txt-link-freetext" href="https://github.com/ToyotaResearchInstitute/task_behavior_engine">https://github.com/ToyotaResearchInstitute/task_behavior_engine</a>
Haven't looked at this in detail so caveat emptor. <br>
</p>
<p>Here is another more academic article which shows how subsumption
is a <i>sequence</i> in BTs:
<a class="moz-txt-link-freetext" href="https://www.semanticscholar.org/paper/A-Survey-of-Behavior-Trees-in-Robotics-and-AI-Iovino-Scukins/595c7aeb6a9c9033a68aff1b25067ce967ea2a77">https://www.semanticscholar.org/paper/A-Survey-of-Behavior-Trees-in-Robotics-and-AI-Iovino-Scukins/595c7aeb6a9c9033a68aff1b25067ce967ea2a77</a>
You have to sign up for Research Gate but that is free.<br>
</p>
<div class="moz-signature"><font face="Comic Sans MS"
color="#000080"> <br>
-73 - <br>
<b>Rud Merriam K5RUD</b> <br>
<a href="http://mysticlakesoftware.com/"> <i>Mystic Lake
Software</i> </a> <br>
<br>
</font>
</div>
<div class="moz-cite-prefix">On 10/28/21 2:19 AM, Murray Altheim via
DPRGlist wrote:<br>
</div>
<blockquote type="cite"
cite="mid:7b1998a1-7bf6-e33a-9d1c-bc9ecc78d25a@altheim.com">On
28/10/21 4:23 pm, Rud Merriam via DPRGlist wrote:
<br>
[...]
<br>
<blockquote type="cite">Since then I've moved to behavior trees
(BT) which are used in
<br>
robotics and for autonomous actors in games. That shooter coming
<br>
after you is driven by a BT. Subsumption is actually subsumed
(ha!) by BTs as one of the techniques used in the trees.
<br>
</blockquote>
Hi Rud,
<br>
<br>
For those curious could you provide any academic (or non-academic)
papers
<br>
describing Behaviour Trees, any known implementations in existing
online
<br>
projects, code repositories, etc. that we might follow up on to
learn more?
<br>
<br>
Cheers,
<br>
<br>
Murray
<br>
<br>
...........................................................................
<br>
Murray Altheim <murray18 at altheim dot
com> = = ===
<br>
<a class="moz-txt-link-freetext" href="http://www.altheim.com/murray/">http://www.altheim.com/murray/</a>
=== ===
<br>
= = ===
<br>
In the evening
<br>
The rice leaves in the garden
<br>
Rustle in the autumn wind
<br>
That blows through my reed hut.
<br>
-- Minamoto no Tsunenobu
<br>
<br>
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</blockquote>
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