http://nakkaya.com/2010/06/29/alter-ego-a-reactive-ai-library/ > alter-ego is a reactive AI library based on the concept of behavior trees. Behavior trees combines a number of AI techniques such as Hierarchical State Machines, Scheduling, Planning, and Action Execution. Their strength comes from the fact that it is very easy to see logic, they are fast to execute and easy to maintain.
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