Alexandre Vaillancourt

FWIW, Gamasutra's post has been [moved to gamedeveloper.com](https://www.gamedeveloper.com/programming/behavior-trees-for-ai-how-they-work) (the site has been renamed), and truncated in the process. The same article can be found here, in full: https://outforafight.wordpress.com/2014/07/15/behaviour-behavior-trees-for-ai-dudes-part-1/

There is a bug in the code, as pointed out by user [DMGregory on Gamedev.Stackexchange](https://gamedev.stackexchange.com/a/175475/40264): In file [Node.cs](https://github.com/SebLague/Pathfinding/blob/b938872d12bbf9a78cda1e88cbb6a5acff25ccbf/Episode%2005%20-%20units/Assets/Scripts/Node.cs#L25), return gCost = hCost; should be return gCost + hCost; Fixing this...