Laura Barnes - Academia.edu (original) (raw)
Papers by Laura Barnes
Intelligent Robots and …, Jan 1, 2004
This study investigates data collected from operating an Inuktun robot in an Urban Search and Res... more This study investigates data collected from operating an Inuktun robot in an Urban Search and Rescue (USAR) confined space training exercise task at Virginia Beach Training Center. Data was collected from coding approximately one hour of video. The video had no sound so all analysis is based on the video feed. Indicators of communication, gestures, physical interactions with the robot, and robot movements were analyzed. The findings indicate that the robot emerges as a virtual presence for the support of the team outside of the confined space. The team members spontaneously responded socially to the robot despite the robot not being engineered to have a social intelligence. This confirms numerous studies in the cognitive science, psychology, and affective computing literature that robots will need a social interface regards of domain.
IEEE Transactions on Mobile Computing, 2015
2016 International Conference on Big Data and Smart Computing (BigComp), 2016
2015 Systems and Information Engineering Design Symposium, 2015
Page 1. Multi-agent Mapping Using Dynamic Allocation Utilizing a Centralized Storage System Laura... more Page 1. Multi-agent Mapping Using Dynamic Allocation Utilizing a Centralized Storage System Laura E. Barnes & Richard Garcia Computer Science Department University of South Florida Tampa, FL { lbarnes3,rdgarcia} @csee.usf.edu ...
2009 Ieee Rsj International Conference on Intelligent Robots and Systems, Oct 1, 2009
Abstract In this paper, we present algorithms and display concepts that allow Soldiers to effici... more Abstract In this paper, we present algorithms and display concepts that allow Soldiers to efficiently interact with a robotic swarm that is participating in a representative convoy mission. A critical aspect of swarm control, especially in disrupted or degraded conditions, is Soldier-swarm ...
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2004
Page 1. Proceedings of 2004 1EEEiRS.J International Conference on Intelligent Robots and Systems ... more Page 1. Proceedings of 2004 1EEEiRS.J International Conference on Intelligent Robots and Systems September 28 -October 2,2004, Sendai, Japan Evidence of the Need for Social Intelligence in Rescue Robots Thomas Fincannon ...
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
Abstract This work addresses the problem of coordinating a swarm of unmanned ground vehicles with... more Abstract This work addresses the problem of coordinating a swarm of unmanned ground vehicles with an unmanned aerial vehicle (UAV). The UAV is utilized as a leader robot that is intelligently followed by a coordinated group of unmanned ground vehicles (UGVs). The ...
2007 Mediterranean Conference on Control & Automation, 2007
Page 1. Unmanned Ground Vehicle Swarm Formation Control Using Potential Fields Laura Barnes*, Mar... more Page 1. Unmanned Ground Vehicle Swarm Formation Control Using Potential Fields Laura Barnes*, MaryAnne Fields** and Kimon Valavanis* * University of South Florida/Department of Computer Science and Engineering ...
2009 17th Mediterranean Conference on Control and Automation, 2009
ABSTRACT In this paper, we present a novel strategy for organizing groups of robots into a format... more ABSTRACT In this paper, we present a novel strategy for organizing groups of robots into a formation utilizing artificial potentials which behave like a bar magnet. A mathematical surface is defined that will “pull” the robots into formation controlling the overall geometry. Nonlinear limiting functions are defined to attract and hold members in a geometric formation. By adjusting control parameters, the shape and the extent of the formation is controlled. Formations can dynamically change and adapt accordingly by making the control parameters time varying. This approach is computationally efficient and scales well to large team sizes. Simulation studies are presented for ten robots in wedge, inverted ‘vee’, and column formations.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2011
Chronic diseases such as diabetes and heart disease are the leading causes of disability and deat... more Chronic diseases such as diabetes and heart disease are the leading causes of disability and death in the developed world. Technological interventions such as mobile applications have the ability to facilitate and motivate patients in chronic disease management, but these types of interventions present considerable design challenges. The primary objective of this paper is to present the challenges arising from the design and implementation of software applications aiming to assist patients in chronic disease management. We also outline preliminary results regarding a self-management application currently under development targeting young adults suffering from type 1 diabetes.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2011
We present a novel knowledge discovery methodology that relies on Rough Set Theory to predict the... more We present a novel knowledge discovery methodology that relies on Rough Set Theory to predict the life expectancy of terminally ill patients in an effort to improve the hospice referral process. Life expectancy prognostication is particularly valuable for terminally ill patients since it enables them and their families to initiate end-of-life discussions and choose the most desired management strategy for the remainder of their lives. We utilize retrospective data from 9105 patients to demonstrate the design and implementation details of a series of classifiers developed to identify potential hospice candidates. Preliminary results confirm the efficacy of the proposed methodology. We envision our work as a part of a comprehensive decision support system designed to assist terminally ill patients in making end-of-life care decisions.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2012
This paper presents a Rough Set Theory (RST) based classification model to identify hospice candi... more This paper presents a Rough Set Theory (RST) based classification model to identify hospice candidates within a group of terminally ill patients. Hospice care considerations are particularly valuable for terminally ill patients since they enable patients and their families to initiate end-of-life discussions and choose the most desired management strategy for the remainder of their lives. Unlike traditional data mining methodologies, our approach seeks to identify subgroups of patients possessing common characteristics that distinguish them from other subgroups in the dataset. Thus, heterogeneity in the data set is captured before the classification model is built. Object related reducts are used to obtain the minimum set of attributes that describe each subgroup existing in the dataset. As a result, a collection of decision rules is derived for classifying new patients based on the subgroup to which they belong. Results show improvements in the classification accuracy compared to a...
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
Abstract In this paper, we present algorithms and display concepts that allow Soldiers to effici... more Abstract In this paper, we present algorithms and display concepts that allow Soldiers to efficiently interact with a robotic swarm that is participating in a representative convoy mission. A critical aspect of swarm control, especially in disrupted or degraded conditions, is Soldier-swarm ...
Unmanned Systems Technology XII, 2010
This paper introduces a concept towards integrating manned and Unmanned Aircraft Systems (UASs) i... more This paper introduces a concept towards integrating manned and Unmanned Aircraft Systems (UASs) into a highly functional team though the design and implementation of 3-D distributed formation/flight control algorithms with the goal to act as wingmen for a manned aircraft. This method is designed to minimize user input for team control, dynamically modify formations as required, utilize standard operating formations to reduce pilot resistance to integration, and support splinter groups for surveillance and/or as safeguards between potential threats and manned vehicles. The proposed work coordinates UAS members by utilizing artificial potential functions whose values are based on the state of the unmanned and manned assets including the desired formation, obstacles, task assignments, and perceived intentions. The overall unmanned team geometry is controlled using weighted potential fields. Individual UAS utilize fuzzy logic controllers for stability and navigation as well as a fuzzy reasoning engine for flight path intention prediction. Approaches are demonstrated in simulation using the commercial simulator X-Plane and controllers designed in Matlab/Simulink. Experiments include trail and right echelon formations as well as splinter group surveillance.
Unmanned Systems Technology VIII, 2006
This paper describes an extension of scripts, which have been used to control sequences of robot ... more This paper describes an extension of scripts, which have been used to control sequences of robot behavior, to facilitate human-robot coordination. The script mechanism permits the human to both conduct expected, complementary activities with the robot and to intervene opportunistically taking direct control. Scripts address the six major issues associated with human-robot coordination. They allow the human to visualize the robot's mental model of the situation and build a better overall understanding of the situation and what level of autonomy or intervention is needed. It also maintains synchronization of the world and robot models so that control can be seamlessly transferred between human and robot while eliminating "coordination surprise". The extended script mechanism and its implementation in Java on an Inuktun micro-VGTV robot for the technical search task in urban search and rescue is described.
2006 14th Mediterranean Conference on Control and Automation, 2006
Abstract A novel method is presented for swarm formation control with potential fields generated... more Abstract A novel method is presented for swarm formation control with potential fields generated from bivariate normal probability density functions (pdfs) that construct the surface the swarm members move upon controlling the swarm geometry and member spacing as well as ...
Cutting Edge Robotics 2010, 2010
ABSTRACT In this work, a methodology for control and coordination of UAVs and UGVs has been prese... more ABSTRACT In this work, a methodology for control and coordination of UAVs and UGVs has been presented. UAVs and UGVs were integrated into a single team and were able to adapt their formation accordingly. Potential field functions together with limiting functions can be successfully utilized to control UGV and UAV swarm formation, obstacle avoidance and the overall swarm movement. A single UAV was also successfully used to pull the UGV swarm into formation. These formations can move as a unit, adapt to non-uniform surfaces and change dynamically. In the future, this approach will be expanded to swarms of heterogeneous UAVs utilizing manned and unmanned vehicles as well as swarm adaptation based on environmental parameters. In addition, the variety of formations will be expanded.
PLoS ONE, 2011
Controlled clinical trials are widely considered to be the vehicle to treatment discovery in canc... more Controlled clinical trials are widely considered to be the vehicle to treatment discovery in cancer that leads to significant improvements in health outcomes including an increase in life expectancy. We have previously shown that the pattern of therapeutic discovery in randomized controlled trials (RCTs) can be described by a power law distribution. However, the mechanism generating this pattern is unknown. Here, we propose an explanation in terms of the social relations between researchers in RCTs. We use social network analysis to study the impact of interactions between RCTs on treatment success. Our dataset consists of 280 phase III RCTs conducted by the NCI from 1955 to 2006. The RCT networks are formed through trial interactions formed i) at random, ii) based on common characteristics, or iii) based on treatment success. We analyze treatment success in terms of survival hazard ratio as a function of the network structures. Our results show that the discovery process displays power law if there are preferential interactions between trials that may stem from researchers' tendency to interact selectively with established and successful peers. Furthermore, the RCT networks are ''small worlds'': trials are connected through a small number of ties, yet there is much clustering among subsets of trials. We also find that treatment success (improved survival) is proportional to the network centrality measures of closeness and betweenness. Negative correlation exists between survival and the extent to which trials operate within a limited scope of information. Finally, the trials testing curative treatments in solid tumors showed the highest centrality and the most influential group was the ECOG. We conclude that the chances of discovering life-saving treatments are directly related to the richness of social interactions between researchers inherent in a preferential interaction model.
Intelligent Robots and …, Jan 1, 2004
This study investigates data collected from operating an Inuktun robot in an Urban Search and Res... more This study investigates data collected from operating an Inuktun robot in an Urban Search and Rescue (USAR) confined space training exercise task at Virginia Beach Training Center. Data was collected from coding approximately one hour of video. The video had no sound so all analysis is based on the video feed. Indicators of communication, gestures, physical interactions with the robot, and robot movements were analyzed. The findings indicate that the robot emerges as a virtual presence for the support of the team outside of the confined space. The team members spontaneously responded socially to the robot despite the robot not being engineered to have a social intelligence. This confirms numerous studies in the cognitive science, psychology, and affective computing literature that robots will need a social interface regards of domain.
IEEE Transactions on Mobile Computing, 2015
2016 International Conference on Big Data and Smart Computing (BigComp), 2016
2015 Systems and Information Engineering Design Symposium, 2015
Page 1. Multi-agent Mapping Using Dynamic Allocation Utilizing a Centralized Storage System Laura... more Page 1. Multi-agent Mapping Using Dynamic Allocation Utilizing a Centralized Storage System Laura E. Barnes & Richard Garcia Computer Science Department University of South Florida Tampa, FL { lbarnes3,rdgarcia} @csee.usf.edu ...
2009 Ieee Rsj International Conference on Intelligent Robots and Systems, Oct 1, 2009
Abstract In this paper, we present algorithms and display concepts that allow Soldiers to effici... more Abstract In this paper, we present algorithms and display concepts that allow Soldiers to efficiently interact with a robotic swarm that is participating in a representative convoy mission. A critical aspect of swarm control, especially in disrupted or degraded conditions, is Soldier-swarm ...
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2004
Page 1. Proceedings of 2004 1EEEiRS.J International Conference on Intelligent Robots and Systems ... more Page 1. Proceedings of 2004 1EEEiRS.J International Conference on Intelligent Robots and Systems September 28 -October 2,2004, Sendai, Japan Evidence of the Need for Social Intelligence in Rescue Robots Thomas Fincannon ...
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
Abstract This work addresses the problem of coordinating a swarm of unmanned ground vehicles with... more Abstract This work addresses the problem of coordinating a swarm of unmanned ground vehicles with an unmanned aerial vehicle (UAV). The UAV is utilized as a leader robot that is intelligently followed by a coordinated group of unmanned ground vehicles (UGVs). The ...
2007 Mediterranean Conference on Control & Automation, 2007
Page 1. Unmanned Ground Vehicle Swarm Formation Control Using Potential Fields Laura Barnes*, Mar... more Page 1. Unmanned Ground Vehicle Swarm Formation Control Using Potential Fields Laura Barnes*, MaryAnne Fields** and Kimon Valavanis* * University of South Florida/Department of Computer Science and Engineering ...
2009 17th Mediterranean Conference on Control and Automation, 2009
ABSTRACT In this paper, we present a novel strategy for organizing groups of robots into a format... more ABSTRACT In this paper, we present a novel strategy for organizing groups of robots into a formation utilizing artificial potentials which behave like a bar magnet. A mathematical surface is defined that will “pull” the robots into formation controlling the overall geometry. Nonlinear limiting functions are defined to attract and hold members in a geometric formation. By adjusting control parameters, the shape and the extent of the formation is controlled. Formations can dynamically change and adapt accordingly by making the control parameters time varying. This approach is computationally efficient and scales well to large team sizes. Simulation studies are presented for ten robots in wedge, inverted ‘vee’, and column formations.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2011
Chronic diseases such as diabetes and heart disease are the leading causes of disability and deat... more Chronic diseases such as diabetes and heart disease are the leading causes of disability and death in the developed world. Technological interventions such as mobile applications have the ability to facilitate and motivate patients in chronic disease management, but these types of interventions present considerable design challenges. The primary objective of this paper is to present the challenges arising from the design and implementation of software applications aiming to assist patients in chronic disease management. We also outline preliminary results regarding a self-management application currently under development targeting young adults suffering from type 1 diabetes.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2011
We present a novel knowledge discovery methodology that relies on Rough Set Theory to predict the... more We present a novel knowledge discovery methodology that relies on Rough Set Theory to predict the life expectancy of terminally ill patients in an effort to improve the hospice referral process. Life expectancy prognostication is particularly valuable for terminally ill patients since it enables them and their families to initiate end-of-life discussions and choose the most desired management strategy for the remainder of their lives. We utilize retrospective data from 9105 patients to demonstrate the design and implementation details of a series of classifiers developed to identify potential hospice candidates. Preliminary results confirm the efficacy of the proposed methodology. We envision our work as a part of a comprehensive decision support system designed to assist terminally ill patients in making end-of-life care decisions.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2012
This paper presents a Rough Set Theory (RST) based classification model to identify hospice candi... more This paper presents a Rough Set Theory (RST) based classification model to identify hospice candidates within a group of terminally ill patients. Hospice care considerations are particularly valuable for terminally ill patients since they enable patients and their families to initiate end-of-life discussions and choose the most desired management strategy for the remainder of their lives. Unlike traditional data mining methodologies, our approach seeks to identify subgroups of patients possessing common characteristics that distinguish them from other subgroups in the dataset. Thus, heterogeneity in the data set is captured before the classification model is built. Object related reducts are used to obtain the minimum set of attributes that describe each subgroup existing in the dataset. As a result, a collection of decision rules is derived for classifying new patients based on the subgroup to which they belong. Results show improvements in the classification accuracy compared to a...
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
Abstract In this paper, we present algorithms and display concepts that allow Soldiers to effici... more Abstract In this paper, we present algorithms and display concepts that allow Soldiers to efficiently interact with a robotic swarm that is participating in a representative convoy mission. A critical aspect of swarm control, especially in disrupted or degraded conditions, is Soldier-swarm ...
Unmanned Systems Technology XII, 2010
This paper introduces a concept towards integrating manned and Unmanned Aircraft Systems (UASs) i... more This paper introduces a concept towards integrating manned and Unmanned Aircraft Systems (UASs) into a highly functional team though the design and implementation of 3-D distributed formation/flight control algorithms with the goal to act as wingmen for a manned aircraft. This method is designed to minimize user input for team control, dynamically modify formations as required, utilize standard operating formations to reduce pilot resistance to integration, and support splinter groups for surveillance and/or as safeguards between potential threats and manned vehicles. The proposed work coordinates UAS members by utilizing artificial potential functions whose values are based on the state of the unmanned and manned assets including the desired formation, obstacles, task assignments, and perceived intentions. The overall unmanned team geometry is controlled using weighted potential fields. Individual UAS utilize fuzzy logic controllers for stability and navigation as well as a fuzzy reasoning engine for flight path intention prediction. Approaches are demonstrated in simulation using the commercial simulator X-Plane and controllers designed in Matlab/Simulink. Experiments include trail and right echelon formations as well as splinter group surveillance.
Unmanned Systems Technology VIII, 2006
This paper describes an extension of scripts, which have been used to control sequences of robot ... more This paper describes an extension of scripts, which have been used to control sequences of robot behavior, to facilitate human-robot coordination. The script mechanism permits the human to both conduct expected, complementary activities with the robot and to intervene opportunistically taking direct control. Scripts address the six major issues associated with human-robot coordination. They allow the human to visualize the robot's mental model of the situation and build a better overall understanding of the situation and what level of autonomy or intervention is needed. It also maintains synchronization of the world and robot models so that control can be seamlessly transferred between human and robot while eliminating "coordination surprise". The extended script mechanism and its implementation in Java on an Inuktun micro-VGTV robot for the technical search task in urban search and rescue is described.
2006 14th Mediterranean Conference on Control and Automation, 2006
Abstract A novel method is presented for swarm formation control with potential fields generated... more Abstract A novel method is presented for swarm formation control with potential fields generated from bivariate normal probability density functions (pdfs) that construct the surface the swarm members move upon controlling the swarm geometry and member spacing as well as ...
Cutting Edge Robotics 2010, 2010
ABSTRACT In this work, a methodology for control and coordination of UAVs and UGVs has been prese... more ABSTRACT In this work, a methodology for control and coordination of UAVs and UGVs has been presented. UAVs and UGVs were integrated into a single team and were able to adapt their formation accordingly. Potential field functions together with limiting functions can be successfully utilized to control UGV and UAV swarm formation, obstacle avoidance and the overall swarm movement. A single UAV was also successfully used to pull the UGV swarm into formation. These formations can move as a unit, adapt to non-uniform surfaces and change dynamically. In the future, this approach will be expanded to swarms of heterogeneous UAVs utilizing manned and unmanned vehicles as well as swarm adaptation based on environmental parameters. In addition, the variety of formations will be expanded.
PLoS ONE, 2011
Controlled clinical trials are widely considered to be the vehicle to treatment discovery in canc... more Controlled clinical trials are widely considered to be the vehicle to treatment discovery in cancer that leads to significant improvements in health outcomes including an increase in life expectancy. We have previously shown that the pattern of therapeutic discovery in randomized controlled trials (RCTs) can be described by a power law distribution. However, the mechanism generating this pattern is unknown. Here, we propose an explanation in terms of the social relations between researchers in RCTs. We use social network analysis to study the impact of interactions between RCTs on treatment success. Our dataset consists of 280 phase III RCTs conducted by the NCI from 1955 to 2006. The RCT networks are formed through trial interactions formed i) at random, ii) based on common characteristics, or iii) based on treatment success. We analyze treatment success in terms of survival hazard ratio as a function of the network structures. Our results show that the discovery process displays power law if there are preferential interactions between trials that may stem from researchers' tendency to interact selectively with established and successful peers. Furthermore, the RCT networks are ''small worlds'': trials are connected through a small number of ties, yet there is much clustering among subsets of trials. We also find that treatment success (improved survival) is proportional to the network centrality measures of closeness and betweenness. Negative correlation exists between survival and the extent to which trials operate within a limited scope of information. Finally, the trials testing curative treatments in solid tumors showed the highest centrality and the most influential group was the ECOG. We conclude that the chances of discovering life-saving treatments are directly related to the richness of social interactions between researchers inherent in a preferential interaction model.
The problem of selecting a template that matches a given candidate signal is applicable across a ... more The problem of selecting a template that matches a given candidate signal is applicable across a wide variety of domains. Using the correlation coefficient as the avenue for selecting the winning template is perhaps the most common technique. The challenge lies in selecting the winning template when there is no clear separation between the correlation coefficient values of the winning template and the others. In this paper, we present a simple Dempster-Shafer (DS) theoretic model that enables one to capture the uncertainty regarding the winner selection in correlation coefficient based template matching. The DS theoretic framework provides an avenue to develop the model with few resources and little to no prior knowledge. We validate the model using several numerical examples and a numerical character recognition application where the evidence provided by several sets of templates are combined using a DS theoretic fusion strategy to arrive at a better decision.