diff --git a/thirdparty/behaviortree/BUILD.gn b/thirdparty/behaviortree/BUILD.gn
new file mode 100644
index 0000000000000000000000000000000000000000..d9fe5ab8a22066f435e5edca1d5a413246c760af
--- /dev/null
+++ b/thirdparty/behaviortree/BUILD.gn
@@ -0,0 +1,840 @@
+/*
+ * Copyright (c) 2023, HiHope Community.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * 3. Neither the name of the copyright holder nor the names of its
+ *    contributors may be used to endorse or promote products derived from
+ *    this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+import("//build/ohos.gni")  
+
+declare_args() {
+   enable_behaviortree_test = false
+}
+
+config("public_config"){
+    ldflags = [
+       "-Wl",
+       "-lm",
+       "-lc",
+       "-lpthread",
+    ]
+
+}
+
+config("lexy_file_config"){
+    cflags_cc = [
+       "-O3",
+       "-DNDEBUG",  
+       "-Wpedantic", 
+       "-pedantic-errors", 
+       "-Werror", 
+       "-Wall", 
+       "-Wextra", 
+       "-Wconversion", 
+       "-Wsign-conversion", 
+       "-Wno-parentheses", 
+       "-Wno-unused-local-typedefs", 
+       "-Wno-array-bounds", 
+       "-Wno-maybe-uninitialized", 
+       "-Wno-restrict", 
+       "-std=gnu++20",
+    ]
+}
+
+ohos_static_library("lexy_file") {
+    output_name = "lexy_file"
+
+    sources = [
+         "BehaviorTree.CPP/3rdparty/lexy/src/input/file.cpp",
+    ]
+
+    defines = [
+    ]
+
+    configs = [ 
+         ":lexy_file_config", 
+         ":public_config",
+    ] 
+
+    include_dirs = [
+         "BehaviorTree.CPP/3rdparty/lexy/include",
+    ]
+
+    part_name = "behaviortree"
+}
+
+config("bt_sample_nodes_config"){
+     cflags_cc = [
+        "-O3", 
+        "-DNDEBUG",    
+        "-Wpedantic",   
+        "-std=gnu++17",
+        "-fexceptions",
+        "-frtti",
+        "-Wno-unused-function",
+     ]
+}
+
+ohos_static_library("bt_sample_nodes") {
+    sources = [
+        "BehaviorTree.CPP/sample_nodes/crossdoor_nodes.cpp",
+        "BehaviorTree.CPP/sample_nodes/dummy_nodes.cpp",
+        "BehaviorTree.CPP/sample_nodes/movebase_node.cpp",
+    ]
+
+    defines = [
+    ]
+
+    configs = [ 
+         ":bt_sample_nodes_config", 
+         ":public_config",
+    ] 
+
+    include_dirs = [
+         "BehaviorTree.CPP/include",
+         "BehaviorTree.CPP/sample_nodes"
+    ]
+
+    part_name = "behaviortree"
+}
+
+config("behaviortreecpp_config"){
+    cflags_cc = [
+        "-O3", 
+        "-DNDEBUG",  
+        "-fPIC",    
+        "-Wpedantic",  
+        "-Wall",  
+        "-Wextra",  
+        "-std=gnu++20",
+        "-fexceptions",
+        "-frtti",
+        "-Wno-deprecated-volatile",
+        "-Wno-unused-lambda-capture",
+    ]
+
+    include_dirs = [
+         "BehaviorTree.CPP/.",
+         "BehaviorTree.CPP/include",
+         "BehaviorTree.CPP/3rdparty",
+         "BehaviorTree.CPP/3rdparty/lexy/include",
+    ]
+
+}
+
+ohos_shared_library("behaviortree_cpp") {
+    output_name = "behaviortree_cpp"
+
+    sources = [
+        "BehaviorTree.CPP/src/action_node.cpp",
+        "BehaviorTree.CPP/src/basic_types.cpp",
+        "BehaviorTree.CPP/src/behavior_tree.cpp",
+        "BehaviorTree.CPP/src/blackboard.cpp",
+        "BehaviorTree.CPP/src/bt_factory.cpp",
+        "BehaviorTree.CPP/src/decorator_node.cpp",
+        "BehaviorTree.CPP/src/condition_node.cpp",
+        "BehaviorTree.CPP/src/control_node.cpp",
+        "BehaviorTree.CPP/src/shared_library.cpp",
+        "BehaviorTree.CPP/src/tree_node.cpp",
+        "BehaviorTree.CPP/src/script_parser.cpp",
+        "BehaviorTree.CPP/src/json_export.cpp",
+        "BehaviorTree.CPP/src/xml_parsing.cpp",
+        "BehaviorTree.CPP/src/actions/test_node.cpp",
+        "BehaviorTree.CPP/src/decorators/inverter_node.cpp",
+        "BehaviorTree.CPP/src/decorators/repeat_node.cpp",
+        "BehaviorTree.CPP/src/decorators/retry_node.cpp",
+        "BehaviorTree.CPP/src/decorators/subtree_node.cpp",
+        "BehaviorTree.CPP/src/decorators/delay_node.cpp",
+        "BehaviorTree.CPP/src/controls/if_then_else_node.cpp",
+        "BehaviorTree.CPP/src/controls/fallback_node.cpp",
+        "BehaviorTree.CPP/src/controls/parallel_node.cpp",
+        "BehaviorTree.CPP/src/controls/reactive_sequence.cpp",
+        "BehaviorTree.CPP/src/controls/reactive_fallback.cpp",
+        "BehaviorTree.CPP/src/controls/sequence_node.cpp",
+        "BehaviorTree.CPP/src/controls/sequence_star_node.cpp",
+        "BehaviorTree.CPP/src/controls/switch_node.cpp",
+        "BehaviorTree.CPP/src/controls/while_do_else_node.cpp",
+        "BehaviorTree.CPP/src/loggers/bt_cout_logger.cpp",
+        "BehaviorTree.CPP/src/loggers/bt_file_logger.cpp",
+        "BehaviorTree.CPP/src/loggers/bt_minitrace_logger.cpp",
+        "BehaviorTree.CPP/src/loggers/bt_observer.cpp",
+        "BehaviorTree.CPP/3rdparty/tinyxml2/tinyxml2.cpp",
+        "BehaviorTree.CPP/3rdparty/minitrace/minitrace.cpp",
+        "BehaviorTree.CPP/src/shared_library_UNIX.cpp",
+    ]
+
+    defines = [
+        "LEXY_HAS_UNICODE_DATABASE=1",
+        "behaviortree_cpp_EXPORTS",
+    ]
+
+    configs = [ 
+         ":behaviortreecpp_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+         "//third_party/behaviortree:lexy_file",
+    ]
+    
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+
+    part_name = "behaviortree"
+}
+
+config("dummy_nodes_dyn_config"){
+    cflags_cc = [
+        "-O3", 
+        "-DNDEBUG",  
+        "-fPIC",    
+        "-Wpedantic",   
+        "-std=gnu++17",
+        "-fexceptions",
+        "-frtti",
+        "-Wno-deprecated-volatile",
+        "-Wno-unused-lambda-capture",
+    ]
+
+    include_dirs = [
+         "BehaviorTree.CPP/include",
+         "BehaviorTree.CPP/sample_nodes"
+    ]
+
+}
+
+ohos_shared_library("dummy_nodes_dyn") {
+    
+    output_name = "dummy_nodes_dyn" 
+
+    sources = [
+        "BehaviorTree.CPP/sample_nodes/dummy_nodes.cpp",
+    ]
+
+    defines = [
+        "BT_PLUGIN_EXPORT",
+        "dummy_nodes_dyn_EXPORTS",
+    ]
+
+    configs = [ 
+         ":dummy_nodes_dyn_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+config("crossdoor_nodes_dyn_config"){
+    cflags_cc = [
+
+        "-O3", 
+        "-DNDEBUG",  
+        "-fPIC",    
+        "-Wpedantic",   
+        "-std=gnu++17",
+        "-fexceptions",
+        "-frtti",
+        "-Wno-deprecated-volatile",
+        "-Wno-unused-lambda-capture",
+    ]
+
+    include_dirs = [
+         "BehaviorTree.CPP/include",
+         "BehaviorTree.CPP/sample_nodes"
+    ]
+
+}
+
+ohos_shared_library("crossdoor_nodes_dyn") {
+    
+    output_name = "crossdoor_nodes_dyn"
+
+    sources = [
+        "BehaviorTree.CPP/sample_nodes/crossdoor_nodes.cpp",
+    ]
+
+    defines = [
+        "BT_PLUGIN_EXPORT",
+        "crossdoor_nodes_dyn_EXPORTS",
+    ]
+
+    configs = [ 
+         ":crossdoor_nodes_dyn_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+    ]
+    
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+
+    part_name = "behaviortree"
+}
+
+config("movebase_node_dyn_config"){
+    cflags_cc = [
+        "-O3", 
+        "-DNDEBUG",  
+        "-fPIC",    
+        "-Wpedantic",   
+        "-std=gnu++17",
+        "-fexceptions",
+        "-frtti",
+        "-Wno-deprecated-volatile",
+        "-Wno-unused-lambda-capture",
+    ]
+
+    include_dirs = [
+         "BehaviorTree.CPP/include",
+         "BehaviorTree.CPP/sample_nodes"
+    ]
+
+}
+
+ohos_shared_library("movebase_node_dyn") {
+    
+    output_name = "movebase_node_dyn"
+
+    sources = [
+        "BehaviorTree.CPP/sample_nodes/movebase_node.cpp",
+    ]
+
+    defines = [
+        "BT_PLUGIN_EXPORT",
+        "movebase_node_dyn_EXPORTS",
+    ]
+
+    configs = [ 
+         ":movebase_node_dyn_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+group("tests") {
+
+if(enable_behaviortree_test){
+    deps = [
+            ":t01_build_your_first_tree",
+            ":t02_basic_ports",
+            ":t03_generic_ports",
+            ":t05_crossdoor",
+            ":t04_reactive_sequence",
+            ":t06_subtree_port_remapping",
+            ":t07_load_multiple_xml",
+            ":t08_additional_node_args",
+            ":t09_scripting",
+            ":t10_observer",
+            ":t11_replace_rules",
+            ":ex01_wrap_legacy",
+            ":ex02_runtime_ports",
+            ":ex04_waypoints"
+    ]
+}else {
+    deps = []
+}
+}
+
+config("executable_public_config"){
+    cflags_cc = [
+        "-O3", 
+        "-DNDEBUG",   
+        "-Wpedantic",   
+        "-std=gnu++17",
+        "-fexceptions",
+        "-frtti",
+        "-Wno-deprecated-volatile",
+        "-Wno-unused-lambda-capture",
+    ]
+
+    include_dirs = [
+         "BehaviorTree.CPP/include",
+         "BehaviorTree.CPP/sample_nodes"
+    ]
+
+}
+
+ohos_executable("t01_build_your_first_tree") {
+    
+    output_name = "t01_build_your_first_tree" 
+
+    sources = [
+        "BehaviorTree.CPP/examples/t01_build_your_first_tree.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+    
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+
+    part_name = "behaviortree"
+}
+
+ohos_executable("t02_basic_ports") {
+    
+    output_name = "t02_basic_ports" 
+
+    sources = [
+        "BehaviorTree.CPP/examples/t02_basic_ports.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+ohos_executable("t03_generic_ports") {
+    
+    output_name = "t03_generic_ports" 
+
+    sources = [
+        "BehaviorTree.CPP/examples/t03_generic_ports.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+
+    part_name = "behaviortree"
+}
+
+ohos_executable("t04_reactive_sequence") {
+    
+    output_name = "t04_reactive_sequence" 
+
+    sources = [
+        "BehaviorTree.CPP/examples/t04_reactive_sequence.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+ohos_executable("t05_crossdoor") {
+    
+    output_name = "t05_crossdoor"
+
+    sources = [
+        "BehaviorTree.CPP/examples/t05_crossdoor.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+ohos_executable("t06_subtree_port_remapping") {
+    
+    output_name = "t06_subtree_port_remapping" 
+
+    sources = [
+        "BehaviorTree.CPP/examples/t06_subtree_port_remapping.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+ohos_executable("t07_load_multiple_xml") {
+    
+    output_name = "t07_load_multiple_xml"
+
+    sources = [
+        "BehaviorTree.CPP/examples/t07_load_multiple_xml.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+ohos_executable("t08_additional_node_args") {
+    
+    output_name = "t08_additional_node_args" 
+
+    sources = [
+        "BehaviorTree.CPP/examples/t08_additional_node_args.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+ohos_executable("t09_scripting") {
+    
+    output_name = "t09_scripting" 
+
+    sources = [
+        "BehaviorTree.CPP/examples/t09_scripting.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+config("t10_observer_config"){
+    cflags_cc = [
+        "-O3", 
+        "-DNDEBUG",   
+        "-Wpedantic",   
+        "-std=gnu++17",
+        "-fexceptions",
+        "-frtti",
+        "-Wno-deprecated-volatile",
+        "-Wno-unused-lambda-capture",
+        "-Wno-unused-variable",
+    ]
+
+    include_dirs = [
+         "BehaviorTree.CPP/include",
+         "BehaviorTree.CPP/sample_nodes"
+    ]
+
+}
+
+ohos_executable("t10_observer") {
+    
+    output_name = "t10_observer" 
+
+    sources = [
+        "BehaviorTree.CPP/examples/t10_observer.cpp",
+    ]
+
+    configs = [ 
+         ":t10_observer_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+ohos_executable("t11_replace_rules") {
+    
+    output_name = "t11_replace_rules"
+
+    sources = [
+        "BehaviorTree.CPP/examples/t11_replace_rules.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+ohos_executable("ex01_wrap_legacy") {
+    
+    output_name = "ex01_wrap_legacy" 
+
+    sources = [
+        "BehaviorTree.CPP/examples/ex01_wrap_legacy.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+ohos_executable("ex02_runtime_ports") {
+    
+    output_name = "ex02_runtime_ports" 
+
+    sources = [
+        "BehaviorTree.CPP/examples/ex02_runtime_ports.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
+
+ohos_executable("ex04_waypoints") {
+    
+    output_name = "ex04_waypoints" 
+
+    sources = [
+        "BehaviorTree.CPP/examples/ex04_waypoints.cpp",
+    ]
+
+    configs = [ 
+         ":executable_public_config", 
+         ":public_config",
+    ] 
+
+    deps = [
+        "//third_party/behaviortree:behaviortree_cpp",
+        "//third_party/behaviortree:bt_sample_nodes",
+    ]
+
+    install_enable = true
+    
+    install_images = [
+         "system",
+         "ramdisk",
+         "updater",
+    ]
+    
+    part_name = "behaviortree"
+}
\ No newline at end of file
diff --git a/thirdparty/behaviortree/README.OpenSource b/thirdparty/behaviortree/README.OpenSource
new file mode 100644
index 0000000000000000000000000000000000000000..a78e67441feec94575bf1bc66899824e9fd36969
--- /dev/null
+++ b/thirdparty/behaviortree/README.OpenSource
@@ -0,0 +1,11 @@
+[
+    {
+        "Name": "behaviortree",
+        "License": "MIT",
+        "License File": "LICENSE",
+        "Version Number": "4.1.1",
+        "Owner": "jia_jiahao@runkaihong.com.cn",
+        "Upstream URL": "https://github.com/BehaviorTree/BehaviorTree.CPP",
+        "Description": "This C++ library provides a framework to create BehaviorTrees. It is designed to be flexible, easy to use and fast."
+    }
+]
diff --git a/thirdparty/behaviortree/README_zh.md b/thirdparty/behaviortree/README_zh.md
new file mode 100644
index 0000000000000000000000000000000000000000..941c5ac35cf0aaec1b0dd965a6ce13cc300dee3e
--- /dev/null
+++ b/thirdparty/behaviortree/README_zh.md
@@ -0,0 +1,17 @@
+# behaviortree三方库说明
+
+## 功能简介
+
+behaviortree提供了一个创建行为树的框架，常用来做任务或状态管理。
+
+## 使用约束
+
+- ROM版本：OpenHarmony 3.2 Release
+- 三方库版本：4.1.1 
+- 当前适配的功能：behaviortree行为树任务或状态管理功能
+- [License:MIT](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/4.1.1/LICENSE)
+
+## 集成方式
+
+- [系统rom包集成](./docs/rom_integrate.md)
+
diff --git a/thirdparty/behaviortree/bundle.json b/thirdparty/behaviortree/bundle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cdd8bbb8daceea0be53b133e12247532ede673f
--- /dev/null
+++ b/thirdparty/behaviortree/bundle.json
@@ -0,0 +1,44 @@
+{
+  "name": "@ohos/behaviortree",
+  "description": "This C++ library provides a framework to create BehaviorTrees. It is designed to be flexible, easy to use and fast.",
+  "version": "v4.1.1",
+  "license": "MIT",
+  "publishAs": "",
+  "segment": {
+      "destPath": "third_party/behaviortree"
+  },
+  "dirs": {},
+  "scripts": {},
+  "readmePath": {
+  },
+  "component": {
+      "name": "behaviortree",
+      "subsystem": "thirdparty",
+      "syscap": [],
+      "features": [],
+      "adapted_system_type": ["standard"],
+      "rom": "",
+      "ram": "",
+      "deps": {
+          "components": [],
+          "third_party": []
+      },
+      "build": {
+          "sub_component": [
+            "//third_party/behaviortree:lexy_file",
+            "//third_party/behaviortree:bt_sample_nodes",
+            "//third_party/behaviortree:behaviortree_cpp",
+            "//third_party/behaviortree:dummy_nodes_dyn",
+            "//third_party/behaviortree:crossdoor_nodes_dyn",
+            "//third_party/behaviortree:movebase_node_dyn",
+            "//third_party/behaviortree:tests"
+          ],
+          "inner_kits": [],
+          "test": []
+      }
+  }
+}
+
+
+
+
diff --git a/thirdparty/behaviortree/docs/pic/result.png b/thirdparty/behaviortree/docs/pic/result.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a35dbfa249996822b2cbeab52da058abd1742e9
Binary files /dev/null and b/thirdparty/behaviortree/docs/pic/result.png differ
diff --git a/thirdparty/behaviortree/docs/rom_integrate.md b/thirdparty/behaviortree/docs/rom_integrate.md
new file mode 100644
index 0000000000000000000000000000000000000000..716cca668cfa06a89095029509ccd3803e4aa445
--- /dev/null
+++ b/thirdparty/behaviortree/docs/rom_integrate.md
@@ -0,0 +1,161 @@
+# behaviortree如何集成到系统Rom
+
+## 准备源码工程
+
+本库是基于OpenHarmony-v3.2-Release版本，在润和RK3568开发板上验证的。如果是从未使用过RK3568，可以先查看[润和RK3568开发板标准系统快速上手](https://gitee.com/openharmony-sig/knowledge_demo_temp/tree/master/docs/rk3568_helloworld)。
+
+### 准备系统Rom源码
+
+系统源码获取方法请参照：[OpenHarmony源码下载](https://gitee.com/openharmony/docs/blob/OpenHarmony-3.2-Release/zh-cn/release-notes/OpenHarmony-v3.2-release.md)
+
+### 增加构建脚本及配置文件
+
+- 下载本仓库代码
+
+  ```sh
+  cd ~/
+  git clone git@gitee.com:openharmony-sig/tpc_c_cplusplus.git --depth=1
+  ```
+
+- 仓库代码目录结构说明
+  
+  ``` sh
+  cd  ~/tpc_c_cplusplus/thirdparty/behaviortree/    # 进入到仓库代码库目录
+  ```
+  
+  ``` sh
+   behaviortree
+      |-- docs                      ## BehaviorTree集成说明文档目录
+           |-- pic                    ## 存放文档中的图片资源
+      |-- BUILD.gn                  ## Rom版编译构建脚本
+      |-- bundle.json               ## 组件定义文件
+      |-- README.OpenSource          ## BehaviorTree 开源信息说明文档
+      |-- README_zh.md              ## BehaviorTree 说明文档
+  ```
+
+- 将本仓库behaviortree文件夹拷贝到OpenHarmony的third_party下
+
+  ``` sh
+  cp -arf ~/tpc_c_cplusplus/thirdparty/behaviortree ~/OpenHarmony/third_party
+  ```
+
+### 准备三方库源码
+
+- 三方库源码下载
+
+   将behaviortree-4.1.1源码下载到behaviortree目录。
+
+  ```shell
+  cd ~/OpenHarmony/third_party/behaviortree
+  git clone https://github.com/BehaviorTree/BehaviorTree.CPP.git -b 4.1.1
+  ```
+
+## 系统Rom中引入三方库
+
+- 准备完三方库代码后，我们需要将三方库加入到编译构建体系中。标准系统编译构建可以参考文档[标准系统编译构建指导](https://gitee.com/openharmony/docs/blob/OpenHarmony-3.2-Beta1/zh-cn/device-dev/subsystems/subsys-build-standard-large.md)。
+这里我们三方库默认添加到thirdparty子系统中(详细信息参照文档[如何添加一个三方库到OpenHarmony系统中](https://gitee.com/openharmony-sig/knowledge/blob/master/docs/openharmony_getstarted/port_thirdparty/README.md#%E5%8A%A0%E5%85%A5%E7%BC%96%E8%AF%91%E6%9E%84%E5%BB%BA%E4%BD%93%E7%B3%BB))。相关配置已在bundle.json中完成，我们只需要在产品定义中添加BehaviorTree组件即可。
+
+- 在产品配置文件中添加BehaviorTree的组件
+  打开//vendor/hihope/rk3568/config.json文件，找到thirdparty子系统并添加BehaviorTree的组件,如果文件中未指定thirdparty子系统，需要手动将子系统信息加上：
+
+  ```json
+  {
+    "subsystem": "thirdparty",
+    "components": [
+        {
+          "component": "musl",
+          "features": []
+        },
+        {
+            "component": "behaviortree",
+            "features": []
+        }
+    ]
+  }
+  ```
+
+
+## 系统Rom中引入三方库测试程序
+
+如果需要编译测试用例，在OpenHarmony源码的vendor/hihope/rk3568/config.json文件,对应组件的features中打开编译选项，如下
+  ```json
+  {
+    "subsystem": "thirdparty",
+    "components": [
+        {
+          "component": "musl",
+          "features": []
+        },
+        {
+            "component": "behaviortree",
+            "features": ["enable_behaviortree_test=true"]
+        }
+    ]
+  }
+  ```
+
+## 编译工程
+
+- 在此选择build.sh脚本编译方式
+  ```
+  ./build.sh --product-name rk3568 --ccache --build-target=behaviortree --target-cpu arm
+  ```
+
+  ```
+  参数释义
+  --product-name rk3568 编译rk3568产品
+  --target-cpu arm 编译32位系统(未配置默认编译32位)
+  --target-cpu arm64 编译64位系统
+  ```
+
+- 正常编译完后会在out/rk3568/thirdparty/behaviortree下生成ex01_wrap_legacy、ex02_runtime_ports、ex04_waypoints、t01_build_your_first_tree、t02_basic_ports、t03_generic_ports、t04_reactive_sequence、t05_crossdoor、t06_subtree_port_remapping、t07_load_multiple_xml、t08_additional_node_args、t09_scripting、t10_observer、t11_replace_rules等14个测试用例。
+
+- 在out/rk3568/thirdparty/behaviortree下生成libbehaviortree_cpp.z.so
+
+## 安装应用程序
+将编译生成的库和测试文件放到板子上运行，为避免每次将文件推入设备都烧录整个镜像，使用hdc工具将文件推到开发板上 。
+
+- 通过源码编译生成hdc工具
+```
+# 安装依赖
+./build/build_scripts/env_setup.sh
+
+# 执行完上述命令后记得执行source ~/.bashrc或者重启终端
+source ~/.bashrc
+
+# 安装编译SDK需要的依赖包
+sudo apt-get install libxcursor-dev libxrandr-dev libxinerama-dev
+
+# 选择产品ohos-sdk
+./build.sh --product-name ohos-sdk --ccache --build-target ohos_ndk
+```
+
+- 将工具拷贝到Windows，可以为工具目录配置环境变量，也可以在工具所在目录打开windows命令
+
+- 将原生库测试需要的所有文件打包成behaviortree.tar,并拷贝到windows下
+
+```
+hdc shell mount -oremount,rw /     #修改系统权限为可读写
+hdc file send behaviortree.tar /         #将文件包推入开发板
+hdc shell                          #进入开发板
+tar xvf behaviortree.tar                     #解压
+                                       #注意需要将库拷贝到/system/lib 或者/system/lib64目录下
+```
+
+- 运行测试程序 测试用例非常多，这里演示其中几个用例，如下图
+ ![result](pic/result.png)
+
+
+
+
+
+## 运行效果
+
+展示三方库在设备上运行的效果，可以贴效果图
+
+## 参考资料
+- [润和RK3568开发板标准系统快速上手](https://gitee.com/openharmony-sig/knowledge_demo_temp/tree/master/docs/rk3568_helloworld)
+- [OpenHarmony三方库地址](https://gitee.com/openharmony-tpc)
+- [OpenHarmony知识体系](https://gitee.com/openharmony-sig/knowledge)
+- [如何为三方库组件中添加一个三方库](https://gitee.com/openharmony-sig/knowledge/blob/master/docs/openharmony_getstarted/port_thirdparty/README.md)
+- [标准系统编译构建指导](https://gitee.com/openharmony/docs/blob/OpenHarmony-3.2-Beta1/zh-cn/device-dev/subsystems/subsys-build-standard-large.md)
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