@misc(RODINPLAT,
 title        = {Event-B platform,},
 url          = {http://www.event-b.org/},
)
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 author       = {Jean-Raymond Abrial},
 year         = {2010},
 title        = {Modeling in event-B: System and software engineering},
 publisher    = {Cambridge University Press},
 doi          = {10.1017/CBO9781139195881},
)
@misc(behaviortree,
 author       = {BehaviorTree},
 title        = {Behaviortree/BehaviorTree.CPP: Behavior trees library in C++. batteries included.},
 url          = {https://github.com/BehaviorTree/BehaviorTree.CPP},
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@article(biggar_framework_2020,
 author       = {Oliver Biggar and Mohammad Zamani},
 year         = {2020},
 title        = {A {Framework} for {Formal} {Verification} of {Behavior} {Trees} {With} {Linear} {Temporal} {Logic}},
 journal      = {IEEE Robotics and Automation Letters},
 volume       = {5},
 number       = {2},
 pages        = {2341--2348},
 doi          = {10.1109/LRA.2020.2970634},
 note         = {Conference Name: IEEE Robotics and Automation Letters},
)
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 author       = {Michele Colledanchise and Alejandro Marzinotto and Petter Ogren},
 year         = {2014},
 title        = {Performance analysis of stochastic behavior trees},
 pages        = {3265--3272},
 doi          = {10.1109/ICRA.2014.6907328},
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 author       = {Michele Colledanchise and Richard~M. Murray and Petter \"{O}gren},
 year         = {2017},
 title        = {Synthesis of Correct-by-Construction Behavior Trees},
 booktitle    = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
 publisher    = {IEEE Press},
 pages        = {6039–6046},
 doi          = {10.1109/IROS.2017.8206502},
)
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 author       = {Michele Colledanchise and Ramviyas Parasuraman and Petter {\"{O}}gren},
 year         = {2015},
 title        = {Learning of Behavior Trees for Autonomous Agents},
 journal      = {CoRR},
 volume       = {abs/1504.05811},
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 author       = {Michele Colledanchise and Petter Ögren},
 year         = {2014},
 title        = {How Behavior Trees modularize robustness and safety in hybrid systems},
 booktitle    = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
 pages        = {1482--1488},
 doi          = {10.1109/IROS.2014.6942752},
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@book(colledanchise_behavior_2018,
 author       = {Michele Colledanchise and Petter Ögren},
 year         = {2018},
 title        = {Behavior {Trees} in {Robotics} and {AI}: {An} {Introduction}},
 publisher    = {CRC Press},
 doi          = {10.1201/9780429489105},
 url          = {http://arxiv.org/abs/1709.00084},
)
@inproceedings(ghzouli_behavior_2020,
 author       = {Razan Ghzouli and Thorsten Berger and Einar~Broch Johnsen and Swaib Dragule and Andrzej Wąsowski},
 year         = {2020},
 title        = {Behavior trees in action: a study of robotics applications},
 booktitle    = {Proceedings of the 13th {ACM} {SIGPLAN} {International} {Conference} on {Software} {Language} {Engineering}},
 series       = {{SLE} 2020},
 publisher    = {Association for Computing Machinery},
 address      = {New York, NY, USA},
 pages        = {196--209},
 doi          = {10.1145/3426425.3426942},
)
@article(LAIBINIS201766,
 author       = {Linas Laibinis and Inna Pereverzeva and Elena Troubitsyna},
 year         = {2017},
 title        = {Formal reasoning about resilient goal-oriented multi-agent systems},
 journal      = {Science of Computer Programming},
 volume       = {148},
 pages        = {66--87},
 doi          = {10.1016/j.scico.2017.05.008},
 url          = {https://www.sciencedirect.com/science/article/pii/S0167642317301181},
 note         = {Special issue on Automated Verification of Critical Systems (AVoCS 2015)},
)
@inproceedings(lindsay_safety_2010,
 author       = {Peter~A. Lindsay and Kirsten Winter and Nisansala Yatapanage},
 year         = {2010},
 title        = {Safety {Assessment} {Using} {Behavior} {Trees} and {Model} {Checking}},
 booktitle    = {2010 8th {IEEE} {International} {Conference} on {Software} {Engineering} and {Formal} {Methods}},
 publisher    = {IEEE},
 address      = {Pisa, Italy},
 pages        = {181--190},
 doi          = {10.1109/SEFM.2010.23},
 url          = {http://ieeexplore.ieee.org/document/5637427/},
)
@inproceedings(macenski_marathon_2020,
 author       = {Steve Macenski and Francisco Martín and Ruffin White and Jonatan~Ginés Clavero},
 year         = {2020},
 title        = {The {Marathon} 2: {A} {Navigation} {System}},
 booktitle    = {2020 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})},
 pages        = {2718--2725},
 doi          = {10.1109/IROS45743.2020.9341207},
 url          = {http://arxiv.org/abs/2003.00368},
)
@article(MCCOLL198667,
 author       = {W.F. McColl and K.~Noshita},
 year         = {1986},
 title        = {On the number of edges in the transitive closure of a graph},
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 volume       = {15},
 number       = {1},
 pages        = {67--73},
 doi          = {10.1016/0166-218X(86)90020-X},
 url          = {https://www.sciencedirect.com/science/article/pii/0166218X8690020X},
)
@inproceedings(PTL2012,
 author       = {Inna Pereverzeva and Elena Troubitsyna and Linas Laibinis},
 year         = {2012},
 title        = {Formal Goal-Oriented Development of Resilient MAS in Event-B},
 editor       = {Mats Brorsson and Lu{\'i}s~Miguel Pinho},
 booktitle    = {Reliable Software Technologies -- Ada-Europe 2012},
 publisher    = {Springer Berlin Heidelberg},
 address      = {Berlin, Heidelberg},
 pages        = {147--161},
 doi          = {10.1007/978-3-642-30598-6_11},
)
@misc(splintered-reality,
 author       = {Splintered-Reality},
 title        = {Splintered-reality/py_trees: Python implementation of behaviour trees.},
 url          = {https://github.com/splintered-reality/py_trees},
)
@inproceedings(9030183,
 author       = {Tadewos~G. Tadewos and Laya Shamgah and Ali Karimoddini},
 year         = {2019},
 title        = {Automatic Safe Behaviour Tree Synthesis for Autonomous Agents},
 booktitle    = {2019 IEEE 58th Conference on Decision and Control (CDC)},
 pages        = {2776--2781},
 doi          = {10.1109/CDC40024.2019.9030183},
)
@article(VisTro21,
 author       = {Inna Vistbakka and Elena Troubitsyna},
 year         = {2021},
 title        = {Modelling resilient collaborative multi-agent systems},
 journal      = {Computing},
 volume       = {103},
 pages        = {535--557},
 doi          = {10.1007/s00607-020-00861-2},
 url          = {https://link.springer.com/article/10.1007/s00607-020-00861-2},
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@inproceedings(10.1145/2987491.2987513,
 author       = {Michael Waltham and Deshen Moodley},
 year         = {2016},
 title        = {An Analysis of Artificial Intelligence Techniques in Multiplayer Online Battle Arena Game Environments},
 booktitle    = {Proceedings of the Annual Conference of the South African Institute of Computer Scientists and Information Technologists},
 series       = {SAICSIT '16},
 publisher    = {Association for Computing Machinery},
 address      = {New York, NY, USA},
 doi          = {10.1145/2987491.2987513},
)