David Llansó Marco Antonio Gómez-Martín Pedro A. González-Calero Self-Validated Behaviour Trees through Reflective Components. 2009 AIIDE conf/aiide/2009 db/conf/aiide/aiide2009.html#LlansoGG09 http://www.aaai.org/ocs/index.php/AIIDE/AIIDE09/paper/view/791