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As has been pointed out by several industrial game AI developers the lack of behavioral modularity across games and in-game tasks is detrimental for the development of high quality AI [605, 171]. An increasingly popular method for ad-hoc behavior authoring that eliminates the modularity limitations of FSMs and BTs is the utility-based AI approach which can be used for the design of control and decision making systems in games [425, 557]. Following this approach, instances in the game get assigned a particular utility function that gives a value for the importance of the particular instance [10, 169]. For instance, the importance of an enemy being present at a particular distance or the impor...
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