Behaviors - northern-bites/nbites GitHub Wiki
James Little's Spring 2017 independent study involved creating a descriptive report of the behaviors system and creating a better method for developing behaviors. His work included the creation of two branches (be-refresh-states and be-clean-slate): the first which begins implementing state redesign ideas, and the second which attempts to completely rewrite the behaviors system.
You can read his paper here: bowdoin.edu/~jlittle/behaviors2017.pdf
This paper is valuable for understanding the underlying framework of the behaviors system and some of the theory behind how to implement a Finite State Machine in Python so that it works with the information flow of the Northern Bites' system.