This paper describes Resh, a new, statically typed, interpreted programming language and associated runtime for orchestrating multirobot systems. The main features of Resh are: (1) It offloads much of the tedious work of programming such systems away from the programmer and into the language runtime; (2) It is based on a small set of temporal and locational operators; and (3) It is not restricted to specific robot types or tasks. The Resh runtime consists of three engines that collaborate to run a Resh program using the available robots in their current environment. This paper describes both Resh and its runtime and gives examples of its use.

In a cable-modem network, a cable modem (CM) talks to a cable-modem termination system (CMTS) over a traditional cable-television network. In the DOCSIS protocol for such networks, the CMTS schedules the upstream (CM-to-CMTS) channels. DOCSIS also provides a mechanism that lets the CMTS change an upstream channel's properties at any time. Unfortunately, changing such a property usually invalidates the current upstream schedule. This paper describes a novel algorithm for rescheduling a DOCSIS upstream channel in response to a property change. The algorithm, which is in use in a real CMTS, has several important advantages: It is flexible, service preserving, and efficient.