More AI in Less Processor Time: 'Egocentric' AI

Listing 1. Process Manager Execution

// scheduling
determine active agents this frame
calculate time allocation for each active agent

// execution
for each active agent on list

    // execute perception set
    determine active perception methods this frame
    execute active perception methods

    // scheduling
    determine active behavioursets this frame
    calculate time allocation for each active behaviourset

    // execution
    for each active behaviourset on list
        if behaviourset was terminated on last execution
            if behaviourset is suspendable
                restart behaviourset execution
            else if behaviourset is sliceable
                continue behaviourset execution
            end if
        else
                run behaviourset
        end if

        check time
        if no time remaining exit behaviourset execution
    end for

    // execution action set
    determine active action methods this frame
    execute active action methods

    check time
    if no time remaining exit PM
end for

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