2023

Shohei Wakayama and Nisar Ahmed, “Observation-Augmented Contextual Multi-Armed Bandits for Robotic Exploration with Uncertain Semantic Data,” submitted to 2024 International Conference on Automated Planning and Scheduling (ICAPS 2024),  (under review).

Jay McMahon, Nisar Ahmed, Morteza Lahijanian, Peter Amorese, Taralicin Deka, Karan Muvvala, Trevor Slack, Shohei Wakayama, and Kian Shakerin, “REASON-RECOURSE Software for Science Operations of Autonomous Robotic Landers,” 2023 IEEE Aerospace Conference (AERO), Big Sky, MT, 2023

Shohei Wakayama and Nisar Ahmed, “Active Inference for Autonomous Decision-Making with Contextual Multi-Armed Bandits,” to appear in 2023 IEEE Conference on Robotics and Automation (ICRA 2023), London, United Kingdom, 2023.

2022

Anne Theurkauf, Nisar Ahmed, and Morteza Lahijanian, “Pareto Optimal Strategies for Event-Triggered Estimation,” 2022 IEEE Conference on Decision and Control (CDC 2022), Cancun, Mexico, 2022, https://ieeexplore.ieee.org/document/9992826

Ofer Dagan and Nisar Ahmed, “Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems,” 2022 International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, 2022, https://ieeexplore.ieee.org/document/9981414

Aastha Acharya, Nisar Ahmed, and Rebecca Russell, “Competency Assessment for Autonomous Agents using Deep Generative Models,” 2022 International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, 2022, https://ieeexplore.ieee.org/document/9981991

Nick Conlon, Daniel Szafir, and Nisar Ahmed. “I’m Confident This Will End Poorly: Robot Proficiency Self-Assessment in Human-Robot Teaming,” 2022 International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, 2022, https://ieeexplore.ieee.org/document/9981653

Luke Barbier, Luke Morrissey, Nisar Ahmed, Eric Frew, Sonia Martinez, Kenneth Center, “Distributed Event-triggered Localization for High Latency Communication,” 2022 American Control Conference, Atlanta, GA, 2022, https://ieeexplore.ieee.org/document/9867719

Jay McMahon, Nisar Ahmed, Morteza Lahijanian, Peter Amorese, Taralicin Deka, Karan Muvvala, Trevor Slack, Shohei Wakayama, “Expert-Informed Autonomous Science Planning for In-situ Observations and Discoveries,” 2022 IEEE Aerospace Conference (AERO), Big Sky, MT, 2022, https://ieeexplore.ieee.org/document/9843445

Nicholas Conlon, Aastha Acharya, Jamison McGinley, Trevor Slack, Camron Hirst, Marissa D’Alonzo, Mitchell Hebert, Christopher Reale, Eric Frew, Rebecca Russell, and Nisar Ahmed, “Generalizing Competency Self-Assessment for Autonomous Vehicles Using Deep Reinforcement Learning,” 2022 AIAA SciTech Forum, San Diego, CA, 2022. AIAA ARC link: https://arc.aiaa.org/doi/abs/10.2514/6.2022-2496

Hunter Ray, Nicholas Conlon, Zachary Sunberg, Nisar Ahmed, “User Preference Elicitation for Unmanned Aircraft System Collaborative Search,” 2022 AIAA SciTech Form, San Diego, CA, 2022. AIAA ARC link: https://arc.aiaa.org/doi/abs/10.2514/6.2022-2343

Spencer Boone, Stefano Bonasera, Jay McMahon, Natasha Bosanac, and Nisar Ahmed, “Incorporating Observation Uncertainty into Reinforcement Learning-Based Spacecraft Guidance Schemes,” 2022 AIAA SciTech Form, San Diego, CA, 2022. https://arc.aiaa.org/doi/abs/10.2514/6.2022-1765

2021

Zhaozhong Chen, Christoffer Heckman, Simon Julier, and Nisar Ahmed. “Time Depedence in Kalman Filter Tuning,” 2021 IEEE 24th International Conference on Information Fusion (FUSION), Sun City, South Africa, 2021. arXiV link: https://arxiv.org/pdf/2108.10712

Ofer Dagan and Nisar Ahmed, “Factor Graphs for Heterogeneous Bayesian Decentralized Data Fusion,” 2021 IEEE 24th International Conference on Information Fusion (FUSION), Sun City, South Africa, 2021. arXiV link: https://arxiv.org/pdf/2106.13285 

Jack Center and Nisar Ahmed, “Data Fusion-aware Motion Planning for Ad Hoc Robotic Search Teams,” 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), New York City, NY, pp. 160-167, 2021. IEEEXplore link: https://ieeexplore.ieee.org/abstract/document/9597681/

2020

Ofer Dagan and Nisar Ahmed, “Heterogeneous Decentralized Fusion using Conditionally Factorized Channel Filters,” 2020 IEEE/RAS Conference on Multisensor Fusion and Information Integration (MFI 2020), Karlsruhe, Germany.

Ramya K. Rajasekaran, Nisar Ahmed, Eric Frew, “Bayesian Fusion of Unlabeled Vision and RF Data for Aerial Tracking of Ground Targets,” 2020 IEEE/RSJ Conference on Intelligent Robotic Systems (IROS 2020), Las Vegas, NV.

Jamie Voros, Jamison McGinley, Stephen McGuire, Michael E. Walker, Priyanka Karki, Nisar Ahmed, Daniel Szafir, and Torin Clark, “Trust in an Autonomous Guidance System for a Planetary Rover Task,” 2020 IEEE Aerospace Conference, Big Sky, Montana.

A. Acharya, S. Wakayama, B. Hayes, and N. Ahmed, “Incremental Reward Learning for Robotic Exploration,” to be presented at the AIAA InfoTech@Aerospace Conference at SciTech 2020 (accepted).

O. Dagan and N. Ahmed, “Linear-Gaussian Analysis of Information-based Decentralized Data Fusion,” to be presented at the AIAA InfoTech@Aerospace Conference at SciTech 2020 (accepted).

B. Mellinkoff, N. Ahmed, and J. Burns, “Towards Self-confidence-based Adaptive Learning for Lunar Exploration,” to be presented at the AIAA InfoTech@Aerospace Conference at SciTech 2020 (accepted).

S. Wakayama and N. Ahmed, “Auto-tuning Online POMDPs for Multi-Object Search in Uncertain Environments,” to be presented at the AIAA InfoTech@Aerospace Conference at SciTech 2020 (accepted).

I. Elliot, N. Bosanac, N. Ahmed, and J. McMahon, “Apprenticeship Learning for Maneuver Design in Multi-Body Systems,” to be presented at the AIAA/AAS Space Flight Mechanics Meeting at SciTech 2020 (accepted).

2019

J. Manni, J. McMahon, and N. Ahmed, “Addressing Varying Lighting Conditions with Application to Terrain Relative Navigation,” 2019 AAS/AIAA Astrodynamics Specialist Conference, Portland, ME.

L. Burks and N. Ahmed, “Collaborative Semantic Data Fusion with Dynamically Observable Decision Processes,” 2019 International Conference on Information Fusion (FUSION 2019), Ottawa, Canada.

I. Loefgren, N. Ahmed, E. Frew, C. Heckman, and S. Humbert, “Scalable Event-triggered Data Fusion for Autonomous Cooperative Swarm Localization,” 2019 International Conference on Information Fusion (FUSION 2019), Ottawa, Canada.

S. McGuire, P.M. Furlong, T. Fong, C. Heckman, D.J. Szafir, S. Julier, and N.
Ahmed, “Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in
Robotic Space Operations,” 2019 IEEE/RAS International Conference on Robotics and
Automation (ICRA 2019), Montreal, CA.

J. Stechschulte, N. Ahmed, and C. Heckman, “Low-overlap 3-D point
cloud registration with Bayesian outlier rejection,” 2019 IEEE/RAS International
Conference on Robotics and Automation (ICRA 2019), Montreal, CA.

B. Israelsen, N. Ahmed, E. Frew, D. Lawrence, and B. Argrow, “Machine Self-Confidence in Autonomous Systems via Meta-Analysis of Decision Processes,” 2019 Applied Human Factors and Ergonomics Conference (AHFE 2019), Washington, DC.

J. Muesing, L. Burks, M. Iuzzolino, D.A. Szafir, N. Ahmed, “Fully Bayesian
Human-Machine Data Fusion for Robust Dynamic Target Surveillance and
Characterization,” InfoTech@Aerospace at AIAA SciTech 2019, San Diego, CA.

S. Moon, R. Kanlapuli, K. Glasheen, N. Ahmed, and E. Frew, “Particle Methods for
Integrated Sensor Fusion and Cooperative Planning for Tracking Emitters using Airborne
Directional Sensors,” InfoTech@Aerospace at AIAA SciTech 2019, San Diego, CA, pp. 1-
15.

2018

J. Klingner, N. Ahmed, and N. Correll, “Fault-Tolerant Covariance Intersection for
Localizing Robot Swarms,” 2018 International Symposium on Distribution Autonomous
Systems, Boulder, CO, October 2018.

Z. Chen, C. Heckman, S. Julier, and N. Ahmed, “Weak in the NEES?: Auto-tuning Kalman Filters with Bayesian Optimization,” accepted to 2018 International Conference on Information Fusion (FUSION 2018), Cambridge, UK — arXiv version.

L. Burks, I. Loefgren, L. Barbier, J. Muesing, J. McGinley, S. Vunnam, and N.Ahmed, “Closed-loop Bayesian Semantic Data Fusion for Collaborative Human-Autonomy Target Search,” accepted to 2018 International Conference on Information Fusion (FUSION 2018), Cambridge, UK — arXiv version.

S. Dourmashkin,  N. Ahmed, D. Akos, and W. Whitacre, “GPS-Denied Cooperative Localization Using Scalable Approximation Decentralized Data Fusion,”  ION PLANS 2018, Monterey, CA.

2017

L. Burks and N. Ahmed, “Optimal Continuous State POMDP Planning with Semantic Observations,” 2017 IEEE Conference on Decision and Control, Melbourne, Australia.

S. Moon, V. Ramaswamy, E. Frew, and N. Ahmed, “Co-optimization of Communication, Sensing, and Computation for Information Gathering using Cloud Computing,” 2017 IEEE Conference on Control Technology and Applications, Hawai’i, pp. 1-6

Y. Cao, D. Casbeer, N. Ahmed, and D. Kingston, “Density Estimation of Moving Targets on a Road Network.” AIAA Information Systems-AIAA Infotech @ Aerospace, AIAA SciTech Forum, Grapevine, TX, pp. 1-11.

B. Israelsen, N. Ahmed, K. Center, and R. Green,”Towards Adaptive Training of Agent-based Sparring Partners for Fighter Pilots,” InfoTech@Aerospace at AIAA SciTech 2017, Grapevine, TX  (Best Intelligent Systems Student Paper Award).

2016

N. Ahmed, “Collaborative autonomous sensing with Bayesians in the loop,” Proc. SPIE 9986, Unmanned/Unattended Sensors and Sensor Networks XII, 99860B (Keynote talk)

V. Ramaswamy, S. Moon, E. Frew, N. Ahmed, “Mutual Information based communication aware path planning: A game theoretic perspective,” 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejon, Korea.

N. Ahmed, W. Whitacre,  S. Moon, and E. Frew, “Factorized DDF for Scalable Partial State Filtering in Networks,” 2016 International Conference on Information Fusion (FUSION 2016), Heidelberg, Germany.

N. Sweet and N. Ahmed, “Structured Synthesis and Compression of Semantic Human Sensor Models for Bayesian Estimation,” 2016 IEEE/CSS American Control Conference (ACC 2016), Boston, MA.

K. Lore, N. Sweet, K. Kumar, N. Ahmed, and S. Sarkar, “Deep Value of Information Estimators for Collaborative Human-Machine Information Gathering,” 2016 ACM/IEEE International Conference on Cyberphysical Systems (ICCPS 2016), Vienna, Austria.

N. Sweet, N. Ahmed, U. Kuter, and C. Miller, “Towards Self-Confidence in Autonomous Systems,” AIAA SciTech 2016 Infotech@Aerospace Conference, San Diego, CA.

N. Ahmed, W. Whitacre, S. Moon, and E. Frew, “Scalable Decentralized Target Localization with Ownship uncertainties Using Factorized Data Fusion”, AIAA SciTech 2016 Infotech@Aerospace Conference, San Diego, CA.

2015

M. Ouimet, N. Ahmed, and S. Martinez, “Event-based Cooperative Localization using Implicit and Explicit Measurements,” 2015 IEEE Conference on Multisensor Fusion and Information Integration (MFI 2015), San Diego, CA .

N. Ahmed, “What’s One Mixture Divided by Another?: A Unified Approach to High-fidelity Distributed Data Fusion with Mixture Models,” 2015 IEEE Conference on Multisensor Fusion and Information Integration (MFI 2015), San Diego, CA.

N. Ahmed, M. Campbell, D. Casbeer, Y. Cao, and D. Kingston, “Fully Bayesian Learning and Spatial Reasoning with Flexible Human Sensor Networks,” ACM/IEEE International Conference on Cyberphysical Systems (ICCPS 2015), Seattle, WA.

N. Ahmed, D. Casbeer, Y. Cao, and D. Kingston, “Bayesian Hidden Markov Models for UAV-Enabled Target Localization on Road Networks with Soft-Hard Data,” SPIE Defense and Security Symposium (DSS 2015), Baltimore, MD.

N. Ahmed, “Conditionally Factorized DDF for General Networked Bayesian Estimation,” 2014 Multisensor Fusion and Information Integration Conference (MFI 2014), Beijing, China.

2012 and older

N. Ahmed, J. Schoenberg, and M. Campbell, “Fast Weighted Exponential Product Rules for Robust Distributed Data Fusion in General Multi-Robot Networks,” Robotics: Science and Systems VIII, 2012, Sydney, NSW, Australia.

E. Sample, N. Ahmed, and M. Campbell, “An Experimental Evaluation of Bayesian Soft Human Sensor Fusion in Robotic Systems,” 2012 AIAA Guidance, Navigation and Control Conference (GNC 2012), Minneapolis, MN.

R. Tse, N. Ahmed, and M. Campbell, “Unified Mixture-Model Based Terrain Estimation with Markov Random Fields,” Multisensor Fusion and Integration 2012 (MFI 2012), Hamburg, Germany.

S. Ponda, N. Ahmed, B. Luders, E. Sample, D. Levine, T. Hoossainy, D. Shah, M. Campbell, and J. How, “Decentralized Information-Rich Path Planning and Hybrid Sensor Fusion for Uncertainty Reduction in Human-Robot Missions,” AIAA Guidance Navigation and Control Conference 2011 (GNC 2011), Portland, OR (Best Technical Paper Award)

N. Ahmed, E. Sample, K. Ho, T. Hoossainy and M. Campbell, “Categorical Soft Data Fusion via Variational Bayesian Importance Sampling, with Applications to Cooperative Search,” American Control Conference 2011 (ACC 2011), San Francisco, CA (Best in Session Award)

N. Ahmed and M. Campbell, “Variational Learning of Autoregressive Mixtures of Experts for Fully Bayesian Hybrid System Identification,” American Control Conference 2011 (ACC 2011), San Francisco, CA.

N. Ahmed and M. Campbell, “Variational Bayesian Data Fusion of Multi-category Discrete Observations, with Applications to Cooperative Human-Robot Estimation,” International Conference on Robotics and Automation 2010 (ICRA 2010), Anchorage, AK.

D. Shah, M. Campbell, F. Bourgault, N. Ahmed, S. Galster, and B. Knott, “An Empirical Study of Human-Robotic Teams with Three Levels of Autonomy,” AIAA InfoTech@Aerospace, 2009.

N. Ahmed and M. Campbell, “Multi-modal Operator Decision Models,” American Control Conference 2008 (ACC 2008), Seattle, WA (Best in Session Award)

F. Bourgault, N. Ahmed, D. Shah, and M. Campbell, “Probabilistic Operator-Multiple Robot Modeling Using Bayesian Network Representation,” AIAA Guidance, Navigation and Control Conference 2007 (GNC 2007).