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 .
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 .