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ABL, the language used to create Façade, has many idioms that can help reduce the complexity of BTs and help them deal with inter-agent communication. At the Paris Game/AI Conf. 2011, Ben Weber showed how ABL idioms helped build the EIS Starcraft Bot from micro-level unit control to macro-level strategy. Whether or not you're building RTS AI, you'll see how these techniques can help improve your behavior trees by adding new patterns into your toolbox.
