Follow Me: Hierarchical Parallel Execution Synchronization in Behavior Trees

The Behavior Tree (BT) has gained considerable popularity in many areas such as robotics and artificial intelligence, due to its advantages of modularity, reactivity, reusability, readability, etc. In the classic BT, tasks under the Parallel node are assumed to be independent of each other and cannot be executed synchronously. To address this problem, we introduce hierarchy into parallel tasks by ...