Cai, Z., Li, M., Huang, W., & Yang, W. (2021). BT Expansion: a Sound and Complete Algorithm for Behavior Planning of Intelligent Robots with Behavior Trees. Proceedings of the AAAI Conference on Artificial Intelligence, 35(7), 6058-6065. Retrieved from https://ojs.aaai.org/index.php/AAAI/article/view/16755