ABSTRACT
In this chapter, we describe how BTs relate to, and often generalize, a number of well-known control architectures including FSMs (Section 2.1), the subsumption architecture (Section 2.3), the teleo-reactive Approach (Section 2.4) and decision trees (Section 2.5). We also present advantages and disadvantages of each approach. Finally, we list a set of advantages and disadvantages of BTs (Section 2.6). Some of the results of this chapter were previously published in the journal paper [13].
