Publications

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Most Recent Work (2017-19)


Journal Papers

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 — Early Access Manuscript via IEEEXplore.

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

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.

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.

Conference Papers

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, accepted.

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, accepted.

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, accepted.

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.

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).

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

Workshop Papers

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

Luke Burks and Nisar Ahmed, “Optimal Continuous State Planning with Semantic Observations,” to appear in the 2017 Multi-Disciplinary Conference on Reinforcement Learning and Decision Making, Ann Arbor, MI.