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Yeah it's 15 years old but still seems to be the gold standard. But it's reminded me that there's a pile of info on it: http://alumni.media.mit.edu/~jorkin/goap.html.
Although it is sophisticated at the individual AI level, it's interesting that there are some simple tricks pulled to make squad behaviour look cleverer than it actually is - from memory, when an AI decides to attack, they have another AI say 'you, go and attack there', giving the impression that the AI actually give and take orders from each other, which they don't.
Something like ARMA actually does model orders, but it's fragile and actually ends up being less convincing.
chez_jay
Not that recent but Fear had great AI.