A Quality-Diversity Approach to Evolving a Repertoire of Diverse Behaviour-Trees in Robot Swarms. - Kirsty Montague; Emma Hart; Geoff Nitschke; Ben Paechter (EvoApplications@EvoStar, 2023)

A Hierarchical Approach to Evolving Behaviour-Trees for Swarm Control. - Kirsty Montague; Emma Hart; Ben Paechter (EvoApplications@EvoStar, 2024)