syslinux -- Simple kernel loader which boots from a FAT filesystem
ftp://ftp.kernel.org/pub/linux/utils/boot/syslinux/
SYSLINUX is a suite of bootloaders, currently supporting DOS FAT filesystems, Linux ext2/ext3 filesystems (EXTLINUX), PXE network boots (PXELINUX), or ISO 9660 CD-ROMs (ISOLINUX). It also includes a tool, MEMDISK, which loads legacy operating systems from these media.