Gregory J. Barlow The Robotics Institute Carnegie Mellon University 5000 Forbes Ave Pittsburgh, PA 15213 office: 1502C Newell-Simon Hall email: gjb at cmu dot edu phone: (412) 491-7179

About me

I am a Ph.D. student in robotics at Carnegie Mellon University, where I work with Dr. Stephen Smith in the Intelligent Coordination and Logistics Laboratory. I am funded by a 2004 National Defense Science and Engineering Graduate Fellowship. I am interested in the application of evolutionary computation to real-world problems, particularly problems involving uncertain or dynamic fitness landscapes.

I received an M.S. in electrical engineering from North Carolina State University (NCSU) in May 2004. Research for my M.S. thesis, Design of Autonomous Navigation Controllers for Unmanned Aerial Vehicles Using Multi-objective Genetic Programming, was funded by the U.S. Office of Naval Research through the U.S. Naval Research Laboratory. I worked in the Center for Robotics and Intelligent Machines, and my advisor at NCSU was Dr. Edward Grant.

I graduated summa cum laude with a B.S. in electrical engineering and a B.S. in computer engineering from NCSU in May 2003. As an undergraduate, I was a 2001 Barry M. Goldwater Scholar and a 1999 John T. Caldwell Scholar. I am originally from Greensboro, NC, and I am a 1999 graduate of the North Carolina School of Science and Mathematics.

Research interests

• Evolutionary computation
• Genetic algorithms
• Dynamic optimization
• Multi-objective optimization
• Evolutionary robotics
• Mobile robotics
• Genetic programming

Teaching

• Teaching Assistant, Math Fundamentals for Robotics, 16-811, Fall 2006

Education

• Carnegie Mellon University, Pittsburgh, PA. Ph.D. student, Robotics.
• North Carolina State University, Raleigh, NC. M.S. Electrical Engineering, 2004.
  Thesis: Design of Autonomous Navigation Controllers for Unmanned Aerial Vehicles using Multi-objective Genetic Programming
• North Carolina State University, Raleigh, NC. B.S. Electrical Engineering and B.S. Computer Engineering, summa cum laude, 2003.

Experience

• Intelligent Coordination and Logistics Laboratory, Carnegie Mellon University, Pittsburgh, PA, 2004 - present.
• Center for Robotics and Intelligent Machines, North Carolina State University, Raleigh, NC, 2000 - 2004.
• Tactical Electronic Warfare Division, United States Naval Research Laboratory, Washington, DC, Summers 2002 - 2005.
• Center for Sensor Technologies, University of Pennsylvania, Philadelphia, PA, Summer 2001.

Publications

Book chapters

1. Gregory J. Barlow and Choong K. Oh. "Evolved Navigation Control for Unmanned Aerial Vehicles." Frontiers in Evolutionary Robotics. Ed. Aleksandar Lazinica. Vienna, Austria: I-Tech Education and Publishing, 2008. (bib)

Refereed conference and workshop papers

1. Gregory J. Barlow, Choong K. Oh, and Stephen F. Smith. "Evolving Cooperative Control on Sparsely Distributed Tasks for UAV Teams Without Global Communication." Proceedings of the 2008 Genetic and Evolutionary Computation Conference. Atlanta, Georgia. July 2008. (abstract, bib)
2. Gregory J. Barlow and Stephen F. Smith. "A Memory Enhanced Evolutionary Algorithm for Dynamic Scheduling Problems." Applications of Evolutionary Computing: EvoWorkshops 2008. Naples, Italy. March 2008. Winner, EvoSTOC Best Paper. (abstract, bib, ps, ps.gz, pdf)
3. Gregory J. Barlow and Choong K. Oh. "Robustness Analysis of Genetic Programming Controllers for Unmanned Aerial Vehicles." Proceedings of the 2006 Genetic and Evolutionary Computation Conference. Seattle, WA. July 2006. (abstract, bib, ps, ps.gz, pdf)
4. Gregory J. Barlow, Leonardo S. Mattos, Edward Grant, and Choong K. Oh. "Transference of Evolved Unmanned Aerial Vehicle Controllers to a Wheeled Mobile Robot." Proceedings of the IEEE International Conference on Robotics and Automation. Barcelona, Spain. April 2005. pp. 2087-2092. (abstract, bib, ps, ps.gz, pdf)
5. Gregory J. Barlow, Choong K. Oh, and Edward Grant. "Incremental Evolution of Autonomous Controllers for Unmanned Aerial Vehicles using Multi-objective Genetic Programming." Proceedings of the 2004 IEEE Conference on Cybernetics and Intelligent Systems (CIS). Singapore. December 2004. pp. 688-693. (abstract, bib, ps, ps.gz, pdf)
6. Edward Grant, Leonardo Mattos, Gregory J. Barlow, Andrew L. Nelson, Kyle Luthy, Blaine Levedahl, and Gordon Lee. "Evolutionary Neural Controllers for Mobile Robot Colonies." Proceedings of the 2004 World Automation Congress. Seville, Spain. June 2004. (abstract, bib, pdf)
7. Gregory J. Barlow. "Autonomous Controller Design for Unmanned Aerial Vehicles using Multi-objective Genetic Programming." Proceedings of the Graduate Student Workshop at the 2004 Genetic and Evolutionary Computation Conference (GECCO-2004). Seattle, WA. June 2004. Winner, Best Student Paper. (abstract, bib, ps, ps.gz, pdf)
8. Choong K. Oh and Gregory J. Barlow. "Autonomous Controller Design for Unmanned Aerial Vehicles using Multi-objective Genetic Programming." Proceedings of the Congress on Evolutionary Computation. Portland, OR. June 2004. pp. 1538-1545. (abstract, bib, ps, ps.gz, pdf)
9. Gregory J. Barlow, Thomas C. Henderson, Andrew L. Nelson, and Edward Grant. "Dynamic Leadership Protocol for S-nets." Proceedings of the IEEE International Conference on Robotics and Automation. New Orleans, LA. April 2004. pp. 1091-1096. (abstract, bib, ps, ps.gz, pdf)
10. Andrew L. Nelson, Edward Grant, Gregory J. Barlow, and Thomas C. Henderson. "A colony of robots using vision sensing and evolved neural controllers." Proceedings of the IEEE Conference on Intelligent Robots and Systems. Las Vegas, NV. October 2003. pp. 2273-2278. (abstract, bib, pdf)
11. Andrew L. Nelson, Edward Grant, Gregory Barlow, and Mark White. "Evolution of Complex Autonomous Robot Behaviors using Competitive Fitness." Proceedings of the IEEE International Conference on Integration of Knowledge Intensive Multi-Agent Systems. Boston, MA. September 2003. pp. 145-150. (abstract, bib, pdf)

Master's thesis

1. Gregory J. Barlow. "Design of Autonomous Navigation Controllers for Unmanned Aerial Vehicles Using Multi-objective Genetic Programming." Master's thesis. North Carolina State University. Raleigh, NC. March 2004. (abstract, bib, ps, ps.gz, pdf)

Technical reports and late breaking papers

1. Gregory J. Barlow, Choong K. Oh, and Stephen F. Smith. "Evolving Cooperative Control on Sparsely Distributed Tasks for UAV Teams Without Global Communication." Robotics Institute, Carnegie Mellon University. TR-07-24. July 2007. (abstract, bib, ps, ps.gz, pdf)
2. Gregory J. Barlow, Choong K. Oh, and Edward Grant. "Incremental Evolution of Autonomous Controllers for Unmanned Aerial Vehicles using Multi-objective Genetic Programming." Proceedings of the 2004 Genetic and Evolutionary Computation Conference (GECCO-2004) Late Breaking Papers. Seattle, WA. June 2004. (abstract, bib, ps, ps.gz, pdf)
3. Gregory J. Barlow and Marc A. Edwards. "Self-evolving Hardware." North Carolina State University. NCSU-CRIM-TR-2001-01. 2001. (abstract, bib, pdf)
4. Gregory J. Barlow. "CMOS Active Pixel Sensor for a Polarization-difference Camera." NSF Technical Report TR-CST18SEPT01. 2001. pp. 127-145. (abstract, bib, pdf)

Presentations

1. "A Memory Enhanced Evolutionary Algorithm for Dynamic Scheduling Problems." European Workshop on Evolutionary Algorithms in Stochastic and Dynamic Environments (EvoSTOC 2008). Naples, Italy. March 27, 2008.
2. "Robustness Analysis of Genetic Programming Controllers for Unmanned Aerial Vehicles." Genetic and Evolutionary Computation Conference (GECCO-2006). Seattle, WA. July 10, 2006. (ppt)
3. "Incremental Evolution of Autonomous Controllers for Unmanned Aerial Vehicles using Multi-objective Genetic Programming." Genetic and Evolutionary Computation Conference (GECCO-2004) Late Breaking Papers. Seattle, WA. June 28, 2004. (ppt)
4. "Autonomous Controller Design for Unmanned Aerial Vehicles using Multi-objective Genetic Programming." Genetic and Evolutionary Computation Conference (GECCO-2004) Graduate Student Workshop. Seattle, WA. June 27, 2004. (ppt)
5. "Autonomous Controller Design for Unmanned Aerial Vehicles using Multi-objective Genetic Programming." Congress on Evolutionary Computation. Portland, OR. June 21, 2004. (ppt)
6. "Dynamic Leadership Protocol for S-nets." IEEE International Conference on Robotics and Automation. New Orleans, LA. April 28, 2004. (ppt)
7. "Design of Autonomous Navigation Controllers for Unmanned Aerial Vehicles Using Multi-objective Genetic Programming." Master's oral examination. North Carolina State University. Raleigh, NC. March 19, 2004. (ppt)
8. "CMOS Active Pixel Sensor for a Polarization-difference Camera." University of Pennsylvania Summer Undergraduate Fellowship in Sensor Technologies (NSF REU). August 3, 2001. (pdf)

Press

1. "Evolutionary Robotics Research Project." Industry/Research News. IEEE Robotics & Automation Magazine. March 2005. pg. 79. (pdf)

Gregory J. Barlow