REU Report: An Implementation of the MDLe Platform

Abstract

The purpose of this project was to create an implementation of the MDLe (motion description language, extended)platform, a platform that has an interface of standard language (the C++ programminglanguage) serving as a protocol between the programmer and a specific robot'sdetails of implementation. A program ("The Mailman") was designed and createdto enable a robot to deliver mail form one room in the A.V. Williams buildingto another (Dr. Krishnaprasad's office) on its own. This paper offers anintroduction to the MDLe system, background information on the mathematics thatgovern the motion of the robot, and a detailed layout of "The Mailman" plan.