Garratt Gallagher http://www.garratt.info/research garratt
EXPERIENCE Research Staff (December 2009 – Present) Massachusetts Institute of Technology, Cambridge MA - Porter Bot: Developed software and electrical platform for dual-armed manipulation robot. Interfaced to, and developed packages for open source projects ROS and OpenRAVE. - PR2: Developed software for creating 3D models of household objects. Research Assistant (September 2007 – August 2009) Carnegie Mellon University, Pittsburgh PA - GATMO: A generalized approach to tracking movable objects: Developed a software package to track and differentiate people and other moving objects. Package also maintains dynamic map of the environment. Package interfaces to ROS, and displays data, as well as allows online configuration of parameters. - Contingency Planning: Developed planning algorithm to ensure that a robot will not hit a person by always maintaining a contingency plan to avoid the person.
Software Engineering Intern (June 2007 – Aug 2007) iRobot Corporation, Burlington, MA - Developed automated error analysis software for iRobot Roomba® and Scooba®
Electrical Engineering Intern (June 2006 – Dec 2006) iRobot Corporation, Burlington, MA - Updated electronics in iRobot PackBot® robotic arm - Participated in development and testing of iRobot Create®
Electronics Team Leader (Nov. 2004 - July 2005) University of California, Davis DARPA ‘Grand Challenge’ Team - Managed all the electronics involved in autonomous robotic vehicle - Built and maintained complex robotic controllers - Supervised, trained and coordinated over 20 students; taught soldering, circuit theory
Research Assistant (September 2004 – June 2006) Physics Department, University of California, Davis - Performed measurements of irradiated magnets, using automated LABView interface. - Developed Mathematica program to model magnets, simulate damage and other effects. - Coordinated testing with technical personnel at the Stanford Linear Accelerator. Data Analyst (June 2004 - September 2004) Advanced Light Source, Lawrence Berkeley National Laboratory, Berkeley, CA - Developed program to automate comparison of protein sequences. - Used 3D modeling programs to model proteins; Frequently presented findings to large groups.
HONORS National Science Foundation Graduate Research Fellow 2007 Tau Beta Pi Fellow 2007 Eagle Scout (awarded in 2002) Integrated Studies, (Freshman honors program), 2002-2003 Dean's List, 2002-2006 James and Leta Fulmor Scholarship, 2002-2003, 2003-2004
PUBLICATIONS B. Ziebart , N. Ratliff, G. Gallagher, K. Peterson , D. Bagnell , M. Herbert, A. Dey, S. Srinivasa. “Planning-based Prediction for Pedestrians” IEEE/RSJ International Conference on Intelligent RObots and Systems(IROS '09), October, 2009.
S. Srinivasa, D. Ferguson, C. Helfrich, D. Berenson, A. Collet, R. Diankov, G. Gallagher, G. Hollinger, J. Kuffner, M. Vande Weghe. “HERB: A Home Exploring Robotic Butler” Autonomous Robots - Special Issue on Autonomous Mobile Manipulation, Summer, 2009.
G. Gallagher, S. Srinivasa, D. Bagnell, D. Ferguson. “Gatmo: a Generalized Approach to Tracking Movable Objects.” IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.
K. Leung, G. Gallagher, “Multi-Robot Localization and Mapping Strategy: Utilizing Behavior Based Dynamic Tree Structure and Observer-explorer Routine” IEEE International Conference on Automation Science and Engineering (CASE '07), Sept, 2007.
S. Anderson, J. Spencer, Z. Wolf, G. Gallagher, D. Pellett, M. Boussoufi, J. Volk. “Fast Neutron Radioactivity and Damage Studies on Materials” Proceedings of Particle Accelerator Conference (PAC 07), July, 2007.
MEMBERSHIPS RoboCzar (leader of RoboOrg, the RI graduate student association) Sigma Phi Sigma (physics honors society) Tau Beta Pi (engineering honors society) IEEE, UC Davis Chapter (Officer) FIRST Team Mentor Society of Women Engineers (Officer)
References available upon request