Decentralized control architectures typically require actuators to take actions based only on the local knowledge. This control approach can be highly robust to failure, since no actuator is responsible for the control of any other actuator. However, achieving global efficiency in these systems can be difficult, because high level goals have to be incorporated into the local control of each actuator. If the goals change, it may be difficult to revise the behavior of individual actuators. Hybrid control architectures combine the local control with higher-level control approaches to achieve robustness, good scalability and the ability to influence the entire team actions through global goals, plans, or control.