@article{designingbehaviortreesfromgoaloriented,
  title = {Designing Behavior Trees from Goal-Oriented LTLf Formulas},
  author = {Aadesh Neupane and Eric G Mercer and Michael A. Goodrich},
  year = {2023},
  eprint = {2307.06399},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2307.06399v2},
}