Behavior Trees with Dataflow: Coordinating Reactive Tasks in Lingua Franca. - Alexander Schulz-Rosengarten; Akash Ahmad; Malte Clement; Reinhard von Hanxleden; Benjamin Asch; Marten Lohstroh; Edward A. Lee; Gustavo Quiros Araya; Ankit Shukla (ICSE Companion, 2024)