Weijiang Hong Zhenbang Chen 0001 Minglong Li Yuhan Li Peishan Huang Ji Wang 0001 Formal Verification Based Synthesis for Behavior Trees. 72-91 2023 SETTA https://doi.org/10.1007/978-981-99-8664-4_5 conf/setta/2023 db/conf/setta/setta2023.html#HongCLLHW23