diff --git a/include/behaviortree_cpp_v3/control_node.h b/include/behaviortree_cpp_v3/control_node.h
index 3f8de1dde..306a05cba 100644
--- a/include/behaviortree_cpp_v3/control_node.h
+++ b/include/behaviortree_cpp_v3/control_node.h
@@ -42,6 +42,7 @@ class ControlNode : public TreeNode
 
   virtual void halt() override;
 
+  /// same as resetChildren()
   void haltChildren();
 
   [[deprecated("deprecated: please use explicitly haltChildren() or haltChild(i)")]] void
@@ -53,5 +54,9 @@ class ControlNode : public TreeNode
   {
     return NodeType::CONTROL;
   }
+
+  /// Set the status of all children to IDLE.
+  /// also send a halt() signal to all RUNNING children
+  void resetChildren();
 };
 }   // namespace BT
diff --git a/include/behaviortree_cpp_v3/controls/switch_node.h b/include/behaviortree_cpp_v3/controls/switch_node.h
index 30b341594..596087fc7 100644
--- a/include/behaviortree_cpp_v3/controls/switch_node.h
+++ b/include/behaviortree_cpp_v3/controls/switch_node.h
@@ -119,7 +119,7 @@ inline NodeStatus SwitchNode<NUM_CASES>::tick()
   }
   else
   {
-    haltChildren();
+    resetChildren();
     running_child_ = -1;
   }
   return ret;
diff --git a/include/behaviortree_cpp_v3/decorator_node.h b/include/behaviortree_cpp_v3/decorator_node.h
index 546d62d7b..3b40dabc9 100644
--- a/include/behaviortree_cpp_v3/decorator_node.h
+++ b/include/behaviortree_cpp_v3/decorator_node.h
@@ -24,7 +24,7 @@ class DecoratorNode : public TreeNode
   /// The method used to interrupt the execution of this node
   virtual void halt() override;
 
-  /// Halt() the child node
+  /// Same as resetChild()
   void haltChild();
 
   virtual NodeType type() const override
@@ -33,6 +33,10 @@ class DecoratorNode : public TreeNode
   }
 
   NodeStatus executeTick() override;
+
+  /// Set the status of the child to IDLE.
+  /// also send a halt() signal to a RUNNING child
+  void resetChild();
 };
 
 /**
diff --git a/src/control_node.cpp b/src/control_node.cpp
index a25a2bdcb..4ec6a79fc 100644
--- a/src/control_node.cpp
+++ b/src/control_node.cpp
@@ -31,7 +31,19 @@ size_t ControlNode::childrenCount() const
 
 void ControlNode::halt()
 {
-  haltChildren();
+  resetChildren();
+}
+
+void ControlNode::resetChildren()
+{
+  for (auto child: children_nodes_)
+  {
+    if (child->status() == NodeStatus::RUNNING)
+    {
+      child->halt();
+    }
+    child->resetStatus();
+  }
 }
 
 const std::vector<TreeNode*>& ControlNode::children() const
diff --git a/src/controls/fallback_node.cpp b/src/controls/fallback_node.cpp
index d7fb1df54..fc580d4f7 100644
--- a/src/controls/fallback_node.cpp
+++ b/src/controls/fallback_node.cpp
@@ -38,7 +38,7 @@ NodeStatus FallbackNode::tick()
         return child_status;
       }
       case NodeStatus::SUCCESS: {
-        haltChildren();
+        resetChildren();
         current_child_idx_ = 0;
         return child_status;
       }
@@ -56,7 +56,7 @@ NodeStatus FallbackNode::tick()
   // The entire while loop completed. This means that all the children returned FAILURE.
   if (current_child_idx_ == children_count)
   {
-    haltChildren();
+    resetChildren();
     current_child_idx_ = 0;
   }
 
diff --git a/src/controls/if_then_else_node.cpp b/src/controls/if_then_else_node.cpp
index 7582f8de0..a5786ccae 100644
--- a/src/controls/if_then_else_node.cpp
+++ b/src/controls/if_then_else_node.cpp
@@ -71,7 +71,7 @@ NodeStatus IfThenElseNode::tick()
     }
     else
     {
-      haltChildren();
+      resetChildren();
       child_idx_ = 0;
       return status;
     }
diff --git a/src/controls/parallel_node.cpp b/src/controls/parallel_node.cpp
index 78ab08a16..bf1604388 100644
--- a/src/controls/parallel_node.cpp
+++ b/src/controls/parallel_node.cpp
@@ -97,7 +97,7 @@ NodeStatus ParallelNode::tick()
         if (success_childred_num == successThreshold())
         {
           skip_list_.clear();
-          haltChildren();
+          resetChildren();
           return NodeStatus::SUCCESS;
         }
       }
@@ -116,7 +116,7 @@ NodeStatus ParallelNode::tick()
             (failure_childred_num == failureThreshold()))
         {
           skip_list_.clear();
-          haltChildren();
+          resetChildren();
           return NodeStatus::FAILURE;
         }
       }
diff --git a/src/controls/reactive_fallback.cpp b/src/controls/reactive_fallback.cpp
index c89d43e00..afab1144c 100644
--- a/src/controls/reactive_fallback.cpp
+++ b/src/controls/reactive_fallback.cpp
@@ -39,7 +39,7 @@ NodeStatus ReactiveFallback::tick()
       break;
 
       case NodeStatus::SUCCESS: {
-        haltChildren();
+        resetChildren();
         return NodeStatus::SUCCESS;
       }
 
@@ -51,7 +51,7 @@ NodeStatus ReactiveFallback::tick()
 
   if (failure_count == childrenCount())
   {
-    haltChildren();
+    resetChildren();
     return NodeStatus::FAILURE;
   }
 
diff --git a/src/controls/reactive_sequence.cpp b/src/controls/reactive_sequence.cpp
index 2e1d81289..efb843a0f 100644
--- a/src/controls/reactive_sequence.cpp
+++ b/src/controls/reactive_sequence.cpp
@@ -37,7 +37,7 @@ NodeStatus ReactiveSequence::tick()
       }
 
       case NodeStatus::FAILURE: {
-        haltChildren();
+        resetChildren();
         return NodeStatus::FAILURE;
       }
       case NodeStatus::SUCCESS: {
@@ -53,7 +53,7 @@ NodeStatus ReactiveSequence::tick()
 
   if (success_count == childrenCount())
   {
-    haltChildren();
+    resetChildren();
     return NodeStatus::SUCCESS;
   }
   return NodeStatus::RUNNING;
diff --git a/src/controls/sequence_node.cpp b/src/controls/sequence_node.cpp
index 11a224d51..9de146418 100644
--- a/src/controls/sequence_node.cpp
+++ b/src/controls/sequence_node.cpp
@@ -46,7 +46,7 @@ NodeStatus SequenceNode::tick()
       }
       case NodeStatus::FAILURE: {
         // Reset on failure
-        haltChildren();
+        resetChildren();
         current_child_idx_ = 0;
         return child_status;
       }
@@ -64,7 +64,7 @@ NodeStatus SequenceNode::tick()
   // The entire while loop completed. This means that all the children returned SUCCESS.
   if (current_child_idx_ == children_count)
   {
-    haltChildren();
+    resetChildren();
     current_child_idx_ = 0;
   }
   return NodeStatus::SUCCESS;
diff --git a/src/controls/sequence_star_node.cpp b/src/controls/sequence_star_node.cpp
index a697278ed..bdd65c358 100644
--- a/src/controls/sequence_star_node.cpp
+++ b/src/controls/sequence_star_node.cpp
@@ -60,7 +60,7 @@ NodeStatus SequenceStarNode::tick()
   // The entire while loop completed. This means that all the children returned SUCCESS.
   if (current_child_idx_ == children_count)
   {
-    haltChildren();
+    resetChildren();
     current_child_idx_ = 0;
   }
   return NodeStatus::SUCCESS;
diff --git a/src/controls/while_do_else_node.cpp b/src/controls/while_do_else_node.cpp
index 543eefae4..b0ecae3cc 100644
--- a/src/controls/while_do_else_node.cpp
+++ b/src/controls/while_do_else_node.cpp
@@ -62,7 +62,7 @@ NodeStatus WhileDoElseNode::tick()
   }
   else
   {
-    haltChildren();
+    resetChildren();
     return status;
   }
 }
diff --git a/src/decorator_node.cpp b/src/decorator_node.cpp
index c239e0dbd..263e16bf0 100644
--- a/src/decorator_node.cpp
+++ b/src/decorator_node.cpp
@@ -31,7 +31,7 @@ void DecoratorNode::setChild(TreeNode* child)
 
 void DecoratorNode::halt()
 {
-  haltChild();
+  resetChild();
 }
 
 const TreeNode* DecoratorNode::child() const
@@ -45,6 +45,11 @@ TreeNode* DecoratorNode::child()
 }
 
 void DecoratorNode::haltChild()
+{
+  resetChild();
+}
+
+void DecoratorNode::resetChild()
 {
   if (!child_node_)
   {
@@ -57,6 +62,7 @@ void DecoratorNode::haltChild()
   child_node_->resetStatus();
 }
 
+
 SimpleDecoratorNode::SimpleDecoratorNode(const std::string& name,
                                          TickFunctor tick_functor,
                                          const NodeConfiguration& config) :
diff --git a/src/decorators/delay_node.cpp b/src/decorators/delay_node.cpp
index a5962f231..daed76039 100644
--- a/src/decorators/delay_node.cpp
+++ b/src/decorators/delay_node.cpp
@@ -68,6 +68,7 @@ NodeStatus DelayNode::tick()
     {
       delay_started_ = false;
       delay_aborted_ = false;
+      resetChild();
     }
     return child_status;
   }
diff --git a/src/decorators/inverter_node.cpp b/src/decorators/inverter_node.cpp
index caf60c815..5e325ff20 100644
--- a/src/decorators/inverter_node.cpp
+++ b/src/decorators/inverter_node.cpp
@@ -29,10 +29,12 @@ NodeStatus InverterNode::tick()
   switch (child_state)
   {
     case NodeStatus::SUCCESS: {
+      resetChild();
       return NodeStatus::FAILURE;
     }
 
     case NodeStatus::FAILURE: {
+      resetChild();
       return NodeStatus::SUCCESS;
     }
 
diff --git a/src/decorators/repeat_node.cpp b/src/decorators/repeat_node.cpp
index 1aa0d4a31..1925765ca 100644
--- a/src/decorators/repeat_node.cpp
+++ b/src/decorators/repeat_node.cpp
@@ -53,13 +53,13 @@ NodeStatus RepeatNode::tick()
     {
       case NodeStatus::SUCCESS: {
         repeat_count_++;
-        haltChild();
+        resetChild();
       }
       break;
 
       case NodeStatus::FAILURE: {
         repeat_count_ = 0;
-        haltChild();
+        resetChild();
         return (NodeStatus::FAILURE);
       }
 
diff --git a/src/decorators/retry_node.cpp b/src/decorators/retry_node.cpp
index 7cea25487..3fb2e4740 100644
--- a/src/decorators/retry_node.cpp
+++ b/src/decorators/retry_node.cpp
@@ -58,13 +58,13 @@ NodeStatus RetryNode::tick()
     {
       case NodeStatus::SUCCESS: {
         try_count_ = 0;
-        haltChild();
+        resetChild();
         return (NodeStatus::SUCCESS);
       }
 
       case NodeStatus::FAILURE: {
         try_count_++;
-        haltChild();
+        resetChild();
       }
       break;
 
diff --git a/src/decorators/subtree_node.cpp b/src/decorators/subtree_node.cpp
index b3bb257f7..fa8469f40 100644
--- a/src/decorators/subtree_node.cpp
+++ b/src/decorators/subtree_node.cpp
@@ -12,7 +12,13 @@ BT::NodeStatus BT::SubtreeNode::tick()
   {
     setStatus(NodeStatus::RUNNING);
   }
-  return child_node_->executeTick();
+  auto status = child_node_->executeTick();
+  if(status != NodeStatus::RUNNING)
+  {
+    resetChild();
+  }
+
+  return status;
 }
 
 //--------------------------------