RCPPSW

Last updated on Apr 22, 2024
Github Docs

This is a collection of various useful algorithms/data structures/etc. that I have found useful for multi-agent robots research, and that do not currently exist in Boost, or that build on what boost provides. Includes such things as:

  • Event reporting framework, built on top of Log4cxx.

  • Logical task hierarchy, including executives capable of executing a task decomposition graph.

  • Data structures involved, such as 2D/3D grid graphs, multiprocessing/multithreading queues/vectors, type maps.

  • Some reusable named type definitions.

  • Implementation of various design patterns:

    • Polled FSM, Hierarchical FSM

    • decorator

    • visitor

    • factory (releasing/sharing variants)

    • prototype

    • singleton

    • PIMPL

  • Components that DO exist elsewhere, but I found their implementations somewhat hard to follow/poorly documented, and it was easier to roll my own.

  • Control theoretic bits such as PID loops

  • Miscellaneous other things as kmeans clustering, multithreading/multiprocessing management tools.

C++ Active Data structures Concurrent programming Design patterns Named types Metric collection Template metaprogramming Control theory Event reporting Random number generation
John Harwell
John Harwell
Researcher and Engineer

Experienced embedded systems engineer whose research interests include multi-agent modeling and behaviors, swarm intelligence, bio-inspired algorithms and multi-robot systems, and computational optimization.