ABSTRACT
In this chapter, we describe how automatic planning can be used to create BTs, exploiting ideas from [10, 17, 74, 75]. First, in Section 7.1, we present an extension of the Backchaining design principle, introduced in Section 3.5, including a robotics example. Then we present an alternative approach using a behavior language (ABL), in Section 7.2, including a game example.
