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Most Recent Work (2019-23)

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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.

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: https://arxiv.org/abs/2110.09621.

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).

Anne Theurkauf, Nisar Ahmed, and Morteza Lahijanian, “Pareto Optimal Strategies for Event-Triggered Estimation,” to appear in 2022 IEEE Conference on Decision and Control (CDC 2022), Cancun, Mexico, 2022.

Ofer Dagan and Nisar Ahmed, “Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems,” to appear in 2022 International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, 2022.

Aastha Acharya, Nisar Ahmed, and Rebecca Russell, “Competency Assessment for Autonomous Agents using Deep Generative Models,” to appear in 2022 International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, 2022.

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

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.

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

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: https://doi.org/10.3389/fncir.2021.757817.

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.

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

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.

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.

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.

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.

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.

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.

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, 2019.

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

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.