All Journal Papers


Luke Burks, Ian Loefgren, and Nisar Ahmed, “Optimal Continuous State POMDP Planning with Semantic Observations: A Variational Approach”, accepted to IEEE Transactions on Robotics (in press) — draft available on arXiv.

John Klingner, Nisar Ahmed, and Nikolaus Correll, “Fault-tolerant Covariance Intersection for Localizing Robot Swarms,” accepted to Autonomous Robots (in press).

Nisar Ahmed, “Decentralized Gaussian Mixture Fusion through Unified Quotient Approximations,” submitted to Information Fusion (in review) — draft available on arXiv.

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.