How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees - researchr publication

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Michele Colledanchise, Petter Ögren. How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees. IEEE Transactions on Robotics, 33(2):372-389, 2017. [doi]

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