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

> Research article (IEEE Transactions on Robotics, 2016) · cited 199× · AI/ML

**Wikidata**: [openalex:W2567075875](https://www.wikidata.org/wiki/openalex:W2567075875)  
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