MPK: An open extensible motion planning kernel

MPK: An open extensible motion planning kernel

Ž . The motion planning kernel MPK is a software system designed to facilitate development, testing, and comparison of robotic and geometric reasoning algorithms. Examples of such algorithms include automatic path planning, grasping, etc. The system has been designed to be open and extensible, so that new methods can be easily added and compared on the same platform. 2001 John Wiley & Sons, Inc.

An Extensible Benchmarking Infrastructure for Motion Planning Algorithms

An Adaptable and Extensible Geometry Kernel

Geometric algorithms are based on geometric objects such as points, lines and circles. The term kernel refers to a collection of representations for constant-size geometric objects and operations on these representations. This paper describes how such a geometry kernel can be designed and implemented in C++, having special emphasis on adaptability, extensibility and efficiency. We achieve these...

Paramecium: an extensible object-based kernel

In this paper we describe the design of an extensible kernel, called Paramecium. This kernel uses an object-based software architecture which together with instance naming, late binding and explicit overrides enables easy reconfiguration. Determining which components reside in the kernel protection domain is up to the user. An certification authority or one of its delegates certifies which comp...

FlexiNet - Extensible Kernel Investigation

In this report we investigate what is the main design issues and options in extensible operating systems, and how those issues are being addressed in some of the research prototypes that are being developed. Design issues like kernel architecture, protection, and conflict resolution are discussed. We also look at how object orientation and reflection may support the design of customisable syste...