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Extension Of Cpe 454 Operating System, Joseph Nathaniel Arhar
Extension Of Cpe 454 Operating System, Joseph Nathaniel Arhar
Computer Science and Software Engineering
This project extended on the operating system I wrote in CPE 454 by adding additional features on top of the existing implementation. In order to implement them, I researched operating system design patterns and hardware details. I used wiki.osdev.org for most research, just like I did in CPE 454. The source code for the project is at https://github.com/josepharhar/jos.
Dynamic Networks For Motion Planning In Multi-Robot Space Systems, Christopher M. Clark, Stephen M. Rock, Jean-Claude Latombe
Dynamic Networks For Motion Planning In Multi-Robot Space Systems, Christopher M. Clark, Stephen M. Rock, Jean-Claude Latombe
Computer Science and Software Engineering
A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. The framework is applicable to both planetary rover and free-floating space robot applications. To combine the respective advantages of centralized and de-centralized planning, this framework is based on the concept of centralized planning within dynamic robot networks. As the robots move in their environment, localized robot groups form networks, within which world models and robot goals can be shared. Whenever a network is formed, new information becomes available to all robots in …