Before revision:  Extending these arguments, we introduce a new class of control architectures we call generalised BTs or k-BTs and show how they can extend the applicability of BTs to some of the aforementioned challenging BT use-cases while preserving the BT principles . We compare BTs to a number of other control architectures within this framework, and show which forms of decision-making can and cannot be equivalently represented by BTs. This allows us to construct a hierarchy of architectures and to show how BTs fit into such a hierarchy .
After revision:  Extending these arguments, we introduce a new class of control architectures we call generalised BTs or k-BTs and show how they can extend the applicability of BTs to some of the aforementioned challenging BT use-cases while preserving the BT principles .