Behave is a project mainly written in Common Lisp, it's free.
An instantly-learnable visual programming system for animal behavior
This code implements the Behave! system, originally developed for the Virtual Fishtank exhibit and described here: http://alumni.media.mit.edu/~mt/behave/behave.html
It runs only under a very obsolete version of Macintosh Common Lisp, so is presented here mostly for historical purposes.
Some of the ideas from Behave! have been incorporated into the Scratch envrionment http://scratch.mit.edu
and into the BioBike VPL: http://nar.oxfordjournals.org/content/37/suppl_2/W28.full
Mike Travers