[Datenstrom]

When I worked on robotics I often found myself reaching for behavior trees for anything complex over a FSM. See section 2 of "Behavior Trees in Robotics and AI"[1] for an example of how much simpler they are. I think they are popular in game dev too but I've never worked in that field.

[1]: https://arxiv.org/pdf/1709.00084.pdf

[JohnHaugeland]

Behavior trees can be fully implemented in this language, and are a (fairly limited) subset of finite state machines

[Datenstrom]

I do not believe that is true. Pure FSMs are not Turing complete[1] while behavior trees can be made trivially so. BTs are not isomorphic to FSMs. I am not aware of any system that can be modeled in an FSM and not in a behavior tree.

[1]: https://www.aaai.org/Papers/AIIDE/2008/AIIDE08-006.pdf