Neufeld, Xenija, Sanaz Mostaghim, and Sandy Brand. “A Hybrid Approach to Planning and Execution in Dynamic Environments Through Hierarchical Task Networks and Behavior Trees”. Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment 14, no. 1 (September 25, 2018): 201–207. Accessed May 31, 2026. https://ojs.aaai.org/index.php/AIIDE/article/view/13044.