Here is a quick recap on Behaviors Trees to refresh you.
A Behavior Tree is a structure for decision-making which uses a Blackboard as its memory. In particular, the flow starts from a special node called the Root, all the way down to the leaves, which are called Tasks. A Task is a single action that the AI can take/perform.
Then, all the nodes that are non-leaves (or the root) are Composite. A composite node chooses which one of the children to execute. The two main Composite nodes are Sequence (which tries to execute all the sequences of its children in order, and if they succeed, it reports a success back, otherwise it reports a fail) and Selector (which tries each child until it finds one that succeeds and reports a success or all of them fail and it reports a fail).
Both Composite and Tasks nodes can use Decorators (which impose conditions...