Learning Behavior Trees From Planning Experts Using Decision Tree and Logic Factorization. - Simona Gugliermo; Erik Schaffernicht; Christos Koniaris; Federico Pecora (IEEE Robotics Autom. Lett., 2023)

Evaluating behavior trees. - Simona Gugliermo; David Cáceres-Domínguez; Marco Iannotta; Todor Stoyanov; Erik Schaffernicht (Robotics Auton. Syst., 2024)