diff --git a/README.md b/README.md
index eb5e734..543e83b 100644
--- a/README.md
+++ b/README.md
@@ -12,6 +12,13 @@
 **AI Toolkit** is a header-only C++ library which provides tools for building
 the brain of your game's NPCs.
 
+It provides:
+
+ - Finite State Machines
+ - Behavior Tree
+ - Utility AI
+ - Goal Oriented Action Planning
+
 ## Installation
 
 Add the `include` folder of this repository to your include paths.
@@ -25,6 +32,62 @@ $ g++ -std=c++23 -Iaiotoolkit/include main.cpp -o mygame
 
 ## Usage
 
+### Finite State Machine
+
+TODO
+
+### Behavior Tree
+
+Include the header:
+
+```cpp
+#include <aitoolkit/behtree.hpp>
+
+using namespace aitoolkit::bt;
+```
+
+Create your blackboard type:
+
+```cpp
+struct blackboard_type {
+  // ...
+};
+```
+
+Create your tree:
+
+```cpp
+auto tree = seq<blackboard_type>::make({
+  check<blackboard_type>::make([](const blackboard_type& bb) {
+    // check some condition
+    return true;
+  }),
+  task<blackboard_type>::make([](blackboard_type& bb) {
+    // perform some action
+    return execution_state::success;
+  })
+});
+```
+
+Evaluate it:
+
+```cpp
+auto blackboard = blackboard_type{
+  // ...
+};
+
+auto state = tree->evaluate(blackboard);
+```
+
+For more informations, consult the
+[documentation](https://linkdd.github.io/aitoolkit/group__behtree.html).
+
+### Utility AI
+
+TODO
+
+### Goal Oriented Action Planning
+
 TODO
 
 ## Documentation
diff --git a/include/aitoolkit/behtree.hpp b/include/aitoolkit/behtree.hpp
index 240c033..c879ae9 100644
--- a/include/aitoolkit/behtree.hpp
+++ b/include/aitoolkit/behtree.hpp
@@ -1,17 +1,152 @@
 #pragma once
 
+/**
+@defgroup behtree Behavior Tree
+@brief Behavior Tree implementation
+
+## Introduction
+
+A behavior tree is a tree structure where each node represents a behavior. The
+tree is evaluated from the root node to the leaf nodes. The leaf nodes are
+either tasks or checks. A task is a node that performs an action and returns
+either success or failure. A check is a node that returns either success or
+failure based on some condition.
+
+<pre class="mermaid">
+flowchart TD
+
+  root{{Selector}} --> seq1
+  root --> seq2
+  root --> seq3
+
+  seq1{{Sequence}} --> seq1a1
+  seq1 --> seq1a2
+
+  seq2{{Sequence}} --> seq2a1
+  seq2 --> seq2a2
+
+  seq3{{Sequence}} --> seq3a1
+  seq3 --> seq3a2
+
+  seq1a1[Check enemy in attack range]
+  seq1a2[[Destroy enemy]]
+
+  seq2a1[Check enemy in sight]
+  seq2a2[[Move towards enemy]]
+
+  seq3a1[[Move towards waypoint]]
+  seq3a2[[Select next waypoint]]
+
+  style root fill:darkred
+  style seq1 fill:darkgreen
+  style seq2 fill:darkgreen
+  style seq3 fill:darkgreen
+</pre>
+
+
+## Usage
+
+First, include the header file:
+
+```cpp
+#include <aitoolkit/behtree.hpp>
+```
+
+Then, create a blackboard class that will hold the state of the tree:
+
+```cpp
+struct blackboard_type {
+  glm::vec2 agent_position;
+  glm::vec2 enemy_position;
+
+  float attack_range;
+  float sight_range;
+
+  size_t current_waypoint;
+  std::vector<glm::vec2> waypoints;
+};
+```
+
+Next, create the tree:
+
+```cpp
+using namespace aitoolkit::bt;
+
+auto tree = sel<blackboard_type>::make({
+  seq<blackboard_type>::make({
+    check<blackboard_type>::make([](const blackboard_type& bb) {
+      auto distance = glm::distance(bb.agent_position, bb.enemy_position);
+      return distance <= bb.attack_range;
+    }),
+    task<blackboard_type>::make([](blackboard_type& bb) {
+      // Destroy enemy
+      return execution_state::success;
+    })
+  }),
+  seq<blackboard_type>::make({
+    check<blackboard_type>::make([](const blackboard_type& bb) {
+      auto distance = glm::distance(bb.agent_position, bb.enemy_position);
+      return distance <= bb.sight_range;
+    }),
+    task<blackboard_type>::make([](blackboard_type& bb) {
+      // Move towards enemy
+      return execution_state::success;
+    })
+  }),
+  seq<blackboard_type>::make({
+    task<blackboard_type>::make([](blackboard_type& bb) {
+      // Move towards waypoint
+      return execution_state::success;
+    }),
+    task<blackboard_type>::make([](blackboard_type& bb) {
+      // Select next waypoint
+      return execution_state::success;
+    })
+  })
+});
+```
+
+Finally, evaluate the tree:
+
+```cpp
+auto bb = blackboard_type{
+  .agent_position = { 0.0f, 0.0f },
+  .enemy_position = { 1.0f, 1.0f },
+  .attack_range = 0.5f,
+  .sight_range = 1.0f
+};
+
+while (true) {
+  auto state = tree->evaluate(bb);
+  if (state == execution_state::success) {
+    break;
+  }
+}
+```
+*/
+
 #include <initializer_list>
 #include <functional>
 #include <memory>
 #include <vector>
 
 namespace aitoolkit::bt {
+  /**
+   * @ingroup behtree
+   * @enum execution_state
+   * @brief Represent the state of a node
+   */
   enum class execution_state {
-    success,
-    failure,
-    running
+    success, /**< The node was successful */
+    failure, /**< The node failed */
+    running  /**< The node is still running */
   };
 
+  /**
+   * @ingroup behtree
+   * @class node
+   * @brief Base abstract class for all nodes
+   */
   template <class T>
   class node {
     public:
@@ -21,9 +156,18 @@ namespace aitoolkit::bt {
       std::vector<std::shared_ptr<node<T>>> m_children;
   };
 
+  /**
+   * @ingroup behtree
+   * @brief Heap-allocated pointer to node
+   */
   template <class T>
   using node_ptr = std::shared_ptr<node<T>>;
 
+  /**
+   * @ingroup behtree
+   * @class seq
+   * @brief Sequence node, will execute all children in order until one fails
+   */
   template <class T>
   class seq final : public node<T> {
     public:
@@ -50,6 +194,11 @@ namespace aitoolkit::bt {
       }
   };
 
+  /**
+   * @ingroup behtree
+   * @class sel
+   * @brief Selector node, will execute all children in order until one succeeds
+   */
   template <class T>
   class sel final : public node<T> {
     public:
@@ -76,6 +225,11 @@ namespace aitoolkit::bt {
       }
   };
 
+  /**
+   * @ingroup behtree
+   * @class neg
+   * @brief Negate node, will return the opposite of the child node
+   */
   template <class T>
   class neg final : public node<T> {
     public:
@@ -104,6 +258,11 @@ namespace aitoolkit::bt {
       }
   };
 
+  /**
+   * @ingroup behtree
+   * @class check
+   * @brief Check node, will return success if the callback returns true
+   */
   template <class T>
   class check final : public node<T> {
     public:
@@ -128,6 +287,11 @@ namespace aitoolkit::bt {
       callback_type m_fn;
   };
 
+  /**
+   * @ingroup behtree
+   * @class task
+   * @brief Task node, will execute the callback and return the result
+   */
   template <class T>
   class task final : public node<T> {
     public: