# Automatic modular design of robot swarms using behavior trees as a control architecture

> Research article (PeerJ Computer Science, 2020) · cited 19× · AI/ML

**Wikidata**: [openalex:W3098880951](https://www.wikidata.org/wiki/openalex:W3098880951)  
**Source**: https://4ort.xyz/entity/automatic-modular-design-of-robot-swarms-using-behavior-trees-as-a-control-architecture