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[[File:Static Integrated View.jpg|thumb|320px|Building a system out of its requirements – static view]]
A '''behavior tree''' is a structured [[visual modeling]] technique used in systems and [[software engineering]]. It represents a system's function with a tree-shaped diagram and provides a clear visual overview of behavior. This is accomplished by replacing potentially unclear elements of [[natural language]] with visual elements, such as arrows, boxes, and symbols. The objective is to make the system more intuitive and less prone to misinterpretation.
== Overview ==
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These genetic parallels, in another context, were originally spelled out by Adrian Woolfson.<ref>A. Woolfson, Life Without Genes, Flamingo, 2000, {{ISBN|0-00-255618-9}}</ref>
Further weight for use of the term "genetic" came from eighteenth-century thinker [[Giambattista Vico]], who said, "To understand something, and not merely be able to describe it, or analyze it into its component parts, is to understand how it came into being – its genesis, its growth … true understanding is always genetic".<ref name = "Vico">Berlin, I. The Crooked Timber of Humanity: Chapters in the History of Ideas, Ed., H.Hardy, Princeton University Press, 1998 {{ISBN|0-691-05838-5}}</ref> Despite these legitimate genetic parallels, it was felt that this emphasis led to confusion with the concept of [[genetic algorithms]]. As a result, the term behavior engineering was introduced to describe the processes that exploit behavior trees to construct systems. The term "behavior engineering" has previously been used in a specialized area of [[artificial intelligence]] – robotics research. The present use embraces a much broader, rigorous formalization and integration of large sets of behavioral and compositional requirements needed to model large-scale systems.
Since the behavior tree notation was originally conceived, several people from the Dependable Complex Computer-based Systems Group (
Probabilistic timed behavior trees have been developed by researches such as: Rob Colvin, Lars Grunske, and Kirsten Winter of the DCCS so that reliability, performances, and other dependability properties can be expressed.<ref name="probTimedBTs">Colvin, R., Grunske, L., Winter, K. 2007 [http://www.behaviorengineering.org/publications/grunske/IFM1.pdf Probabilistic Timed Behavior Trees] {{Webarchive|url=https://web.archive.org/web/20110725054158/http://www.behaviorengineering.org/publications/grunske/IFM1.pdf |date=25 July 2011 }}</ref>
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