All Journal Papers


Shohei Wakayama and Nisar Ahmed, “Probabilistic Semantic Data Association for Collaborative Human-Robot Sensing,” submitted to IEEE Transactions on Robotics (accepted), draft available on arXiv:

Ofer Dagan and Nisar Ahmed “Exact and Approximate Heterogeneous Bayesian Decentralized Data Fusion,” IEEE Transactions on Robotics (accepted) — draft available on arXiv

Stefano Bonasera, Natasha Bosanac, Christopher Sullivan, Ian Elliot, Nisar Ahmed, Jay McMahon, “Designing Sun-Earth L2 Halo Orbit Station-keeping Maneuvers via Reinforcement Learning,” AIAA Journal of Guidance, Control, and Dynamics (in press).

Victoria Kravets, Jordan Dixon, Nisar Ahmed, and Torin Clark, “COMPASS: Computations for Orientation and Motion Perception in Altered Sensorimotor States,” Frontiers in Neural Circuits, October, 2021, available online at:

Stephen McGuire, Padraig M. Furlong, Christoffer Heckman, Simon Julier, and Nisar Ahmed, “Human-Aware Reinforcement Learning for Fault Recovery using Contextual Gaussian Processes,” AIAA Journal of Aerospace Information Systems, Volume 18, Number 7, pp.1-13 , 2021.

Luke Burks, Nisar Ahmed, Ian Loefgren, Luke Barbier, Jeremy Muesing, Jamison McGinley, Sousheel Vunnam, “Collaborative Human-Autonomy Semantic Sensing through Structured POMDP Planning,” Robotics and Autonomous Systems, Volume 140, 103753, 2021.

Jeremy Muesing, Nisar Ahmed, Luke Burks, Michael Iuzzolino, and Danielle Szafir, “Fully Bayesian Human-Machine Data Fusion for Robust Online Dynamic Target Characterization,AIAA Journal of Aerospace Information Systems, vol. 18, no. 2, pp. 26-49, 2021.

Jonathan Manni, Jay McMahon, Nisar Ahmed, Courtney Mario, and Rebecca Russell, “Deep Convolutional Templated Matching under Challenging Lighting Conditions,” submitted to AIAA Journal of Aerospace Information Systems (in review).

Jaime Voros, Jamison McGinley, Stephen McGuire, Michael Walker, Priyanka Karki, Nisar Ahmed, Daniel Szafir, and Torin Clark, “Trust and Trust Behavior Are Similar in Human and Autonomous Navigation Assistance,” submitted to Journal of Applied Ergonomics (in review).

Young-Young Shen, Nisar Ahmed, and Allison Anderson, “Analysis of Error Sources in Magnetometer-Free Inertial Sensing of Human Motion,” to be submitted to IEEE Transactions on Neural Systems and Rehabilitation Engineering (in preparation).

Zhaozhong Chen, Nisar Ahmed, Simon Julier, and Christoffer Heckman, “Kalman Filter Tuning with Bayesian Optimization,” (in preparation) — draft available on arXiv.

Nisar Ahmed, “Decentralized Gaussian Mixture Fusion through Unified Quotient Approximations,” (in preparation)draft available on arXiv.


Young-Young Shen, Nisar Ahmed, and Allison Anderson, “Novel Newton-Cotes Discretization Approach for Improved Dead-Reckoning in Bayesian Estimators,” AIAA Journal of Guidance, Control and Dynamics, Feb 2020, pp. 1-7.


Luke Burks, Ian Loefgren, and Nisar Ahmed, “Optimal Continuous State POMDP Planning with Semantic Observations: A Variational Approach,” IEEE Transactions on Robotics, v. 35, no. 6, pp.1488-1507, December 2019  — draft available on arXiv.

John Klingner, Nisar Ahmed, and Nikolaus Correll, “Fault-tolerant Covariance Intersection for Localizing Robot Swarms,” Autonomous Robots, vol. 122, 103306.

Steve McGuire,  Michael Furlong, Terrence Fong, Christoffer Heckman,
Daniel J. Szafir, Simon Julier, and Nisar Ahmed, “Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in Robotic Space Operations,” IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp.1216-1223, April 2019 — IEEEXplore Link.

Brett Israelsen and Nisar Ahmed, ” ‘Dave…I can assure you…it’s going to be alright…’: A definition, case for, and survey of algorithmic assurances in human-autonomy trust relationships,” ACM Computing Surveys, v.51 no.6, Jan 2019, 113:1-113:37. — draft available on arXiv


Nisar Ahmed, “Data-Free/Data-Sparse Softmax Parameter Estimation with Structured Class Geometries,” IEEE Signal Processing Letters, Volume: 25 Issue: 9, pp. 1408-1412, September 2018  — draft available on arXiv

Michael Ouimet, Nisar Ahmed, David Iglesias, and Sonia Martinez, “Cooperative Robot Localization Using Event-triggered Estimation,” AIAA Journal of Aerospace Information Systems, Vol. 15, No. 7 (2018), pp. 427-449 — draft available on arXiv.

Steve McGuire, Padraig Michael Furlong, Christoffer Heckman, Simon Julier, and Nisar Ahmed, “Failure is Not an Option: Policy Learning for Adaptive Recovery in Space Operations,” IEEE Robotics and Automation Letters, Vol. 3 no. 3 (2018), pp.1639-1646, pre-print available online.

Brett Israelsen, Nisar Ahmed, Kenneth Center, Roderick Green, and Winston Bennett, “Adaptive Simulation-based Training of Artificial Intelligence Decision-makers Using Bayesian Optimization,” AIAA Journal of Aerospace Information Systems, Vol. 15, No. 2 (2018), pp. 38-56.


Nisar Ahmed, David Casbeer, Yongcan Cao, and Derek Kingston, “Multi-target Localization on Road Networks with Hidden Markov Rao-Blackwellized Particle Filters,” AIAA Journal of Aerospace Information Systems, Vol. 14, No. 11 (2017), pp. 573-596.


Mark Campbell and Nisar Ahmed, “Distributed Data Fusion: Neighbors, Rumors, and the Art of Collective Knowledge,” IEEE Control Systems, vol 36, no. 4, 83-109, 2016.


Rina Tse, Nisar Ahmed, and Mark Campbell, “Unified Mixture-Model Based Terrain Estimation with Markov Random Fields,” IEEE Transactions on Robotics, v.31, issue 2, p. 290-306, 2015.


Nisar Ahmed, Ewart de Visser, Tyler Shaw, Amira Mohammed-Ameen, Mark Campbell, and Raja Parasuraman, “Statistical Modeling of Networked Human-Automation Performance Using Working Memory Capacity,” Ergonomics, v. 57, no. 3, pp. 295-318, 2014.

2013 and older

Nisar Ahmed, Eric Sample, and Mark Campbell, “Bayesian Multi-categorical Soft Data Fusion for Human-Robot Collaboration,” IEEE Transactions on Robotics, v. 29, no. 1, pp.189-206, 2013.

Nisar Ahmed and Mark Campbell, “Fast Consistent Chernoff Fusion of Gaussian Mixtures for Ad Hoc Sensor Networks,” IEEE Transactions on Signal Processing , v. 60, no. 12, pp. 6739 – 6745, 2012.

Nisar Ahmed and Mark Campbell, “On Estimating Simple Probabilistic Discriminative Subclass Models,” Expert Systems with Applications, v.39, pp 6659-6664, 2012.

Nisar Ahmed and Mark Campbell, “Variational Bayesian Learning of Probabilistic Discriminative Models with Latent Softmax Variables,” IEEE Transactions on Signal Processing, v.59, no. 7, pp 3143-3154, 2011.

Fernando Casas, Nisar Ahmed, and Andrew Reeves, “A Minimal Sensor Count Approach to Fuzzy Logic Rotary Blood Pump Flow Control,” ASAIO Journal, vol. 53, no. 2, pp. 140-146, March/April 2007.