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How to create document centric apps with concurrent tasks on Android Lollipop

Android L introduced a great new feature: the ability for a single app to have multiple tasks available on the ‘Recent Apps’ list. This is called Document Centric apps (Concurrent Tasks). In fact, this feature is a rather significant change in multitasking model in Android L, where focus has been shifted from traditional app-centric multitasking to document-centric multitasking.