Publications

Google Scholar page

Most Recent Work (2018-20)


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, 113:1-113:37draft 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  — pre-print 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 — pre-print 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.

Conference Papers

L. Burks, J. McGinley, S. Vunnam, H. Kjerland-Nicoletti, and N. Ahmed, “Active Semantic Sensing and Planning for Human-Robot Collaboration in Uncertain Environments,” submitted to the 2020 International Conference on Robotics and Automation (ICRA 2020) (in review).

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, “Inverse Reinforcement Learning for Maneuver Design in Multi-Body Systems,” to be presented at the AIAA/AAS Space Flight Mechanics Meeting at SciTech 2020 (accepted).

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.

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.

Workshop Papers

M. Walker, S. McGuire, J. McGinley, T. Clark, D. Szafir, N. Ahmed, and J. Burns, “Autonomous Advisor Trust for Distal Lunar Rover Teleoperation in a Virtual Reality Simulation Testbed,” in the 2018 RSS Workshop on Autonomous Space Robotics, Pittsburgh, PA.

L. Burks and N. Ahmed, “Flexible Semantic Human-Robot Sensing in Unknown Environments using Dynamic Information Gathering Policies,” in the 2018 ICRA Workshop on Robot Teammates Operating in Dynamic and Uncertain Environments (RT-DUNE), Brisbane, Australia.