# BT Expansion: a Sound and Complete Algorithm for Behavior Planning of Intelligent Robots with Behavior Trees

> Research article (Proceedings of the AAAI Conference on Artificial Intelligence, 2021) · cited 21× · AI/ML

**Wikidata**: [openalex:W3174106554](https://www.wikidata.org/wiki/openalex:W3174106554)  
**Source**: https://4ort.xyz/entity/bt-expansion-a-sound-and-complete-algorithm-for-behavior-planning-of-intelligent-robots-with-behavior-trees