Hierarchical Concurrent Task Solution

Hierarchical concurrent task solution using multi-threaded behavior trees

Hierarchical concurrent decision-making task solutions using multi-threaded behavior trees

BtEngineSDK was implemented to execute all behavior trees within individual threads. In this way, tree level tasks can be performed concurrently. Besides, all child sub-trees of a parallel node are executed within individual threads as well. Therefore, concurrent sub-tasks under multilevel parallel nodes within a behavior tree can be performed hierarchically.