Robotics

I am interested in many different aspects of reactive control for mobile robots. I am particularly interested in navigation, robot vision, machine learning, and software architectures. I am currently developing a textbook for my introductory robotics course.

Journal papers

Gabriel J. Ferrer, "Encoding Robotic Sensor States for Q-Learning Using the Self-Organizing Map," Journal of Computing Sciences in Colleges 25:5 (May 2010) 133-139. (PDF)
A.B. Wright, T. Born, G.J. Ferrer, A.M. Wright, "Layered Mode Selection Logic for Unstructured Environments," International Journal of Intelligent Control and Systems13:3 (September 2008) 162-177. (PDF)
Frank Z. Brill, Glenn S. Wasson, Gabriel J. Ferrer, and Worthy N. Martin, "The Effective Field of View Paradigm: Adding Representation to a Reactive System", Engineering Applications of Artificial Intelligence 11 (1998) 189-201. (Postscript)(PDF)

Conference papers

T. Born, G. Ferrer, A. M. Wright, A. B. Wright, "Layered Mode Selection Logic Control for Border Security", SPIE Defense and Security (Orlando, FL, April 9-13, 2007) (PDF)
Ann Wright, Gabriel Ferrer, and Andrew Wright, "A Liberal Arts Approach to Teaching Robotics", American Society of Engineering Education Annual Conference and Exposition, Nashville, Tennessee, June 22-25, 2003. (PDF)
Glenn S. Wasson, Gabriel J. Ferrer, and Worthy N. Martin, "Systems for Perception/Action and Effective Representation", FLAIRS-97 Special Track on Real-Time Planning and Reacting, Daytona Beach, Florida, May 10-14, 1997. (Postscript)

Software Engineering

I am interested in methods and tools that enable software developers to maintain intellectual control over their projects. Another way to phrase this is that I am interested in software epistemology; that is, how can a developer's knowledge of a software artifact be enhanced? Much of my research is inspired by the Cleanroom Software Enginering methodology.

Journal Papers

Gabriel J. Ferrer, "A Formal Language and Analysis Tool for Black Box Specifications," Journal of Computing Sciences in Colleges 24:5 (May 2009) 12-18. (PDF)
Gabriel J. Ferrer, "Simplifying Parser Generation," Journal of Computing Sciences in Colleges 22:5 (May 2007) 23-29. (PDF)

One of the goals of this paper was to show how to easily handle left recursion in a top-down parser. Others have been working on this problem; [Frost, Hafix, Callaghan: 2007] is one interesting example.

Gabriel J. Ferrer, "Teaching Cleanroom Software Engineering Using Object-Oriented Data Abstraction," Journal of Computing Sciences in Colleges 21:5 (May 2006) 155-161. (PDF)

Software Tools

Conference Paper

Gabriel J. Ferrer, "Teaching Specification and Verification of Event-Driven Programs Using Cleanroom Software Engineering", 2nd Annual Mid-South College Computing Conference, Little Rock, Arkansas, April 2-3, 2004. (PDF)

Search Algorithms

I am interested in the application of search algorithms to intractable problems. I have investigated the application of search to analyze formal software models, STRIPS-style planning problems, and intelligent boardgame playing programs. My graduate thesis work was focused on this topic.

Theses

Doctoral Dissertation: Anytime Replanning Using Local Subplan Replacement (Postscript)(PDF)
Master's Thesis: Using Genetic Programming to Evolve Board Evaluation Functions (Postscript)

Conference Papers

James P. Gunderson and Gabriel J. Ferrer, "A Linear Time Transform for Probability-Aware Planners", IEEE Conference on Systems, Man, and Cybernetics, Nashville, Tennessee, October 8-11, 2000. (Postscript)
Gabriel J. Ferrer and W. N. Martin, "Using Genetic Programming to Evolve Board Evaluation Functions", 1995 IEEE Conference on Evolutionary Computation, Perth, Western Australia, November 29 - December 1, 1995. (Postscript)