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Most Recent Work (2016-18)

Journal Papers

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 (accepted, in press)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  — 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.

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.

Conference Papers

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)

V. Ramaswamy, S. Moon, E. Frew, N. Ahmed, “Mutual Information based communication aware path planning: A game theoretic perspective,” 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejon, Korea.

N. Ahmed, W. Whitacre, S. Moon, and E. Frew, “Factorized DDF for Scalable Partial State Filtering in Networks,” 2016 International Conference on Information Fusion (FUSION 2016), Heidelberg, Germany.

N. Sweet and N. Ahmed, “Structured Synthesis and Compression of Semantic Human Sensor Models for Bayesian Estimation,” 2016 IEEE/CSS American Control Conference (ACC 2016), Boston, MA.

K. Lore, N. Sweet, K. Kumar, N. Ahmed, and S. Sarkar, “Deep Value of Information Estimators for Collaborative Human-Machine Information Gathering,” 2016 ACM/IEEE International Conference on Cyberphysical Systems (ICCPS 2016), Vienna, Austria.

N. Sweet, N. Ahmed, U. Kuter, and C. Miller, “Towards Self-Confidence in Autonomous Systems,” AIAA SciTech 2016 Infotech@Aerospace Conference, San Diego, CA

N. Ahmed, W. Whitacre, S. Moon, and E. Frew, “Scalable Decentralized Target Localization with Ownship uncertainties Using Factorized Data Fusion”, AIAA SciTech 2016 Infotech@Aerospace Conference, San Diego, CA.

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.

B. Israelsen and N. Ahmed, “Hybrid Repeat/Multi-point Sampling for Highly Volatile Objective Functions,” 2016 NIPS Workshop on Bayesian Optimization, Barcelona, Spain.

S. McGuire, P. Michael Furlong, C. Heckman, S. Julier, D. Szafir, and N. Ahmed, “Teamwork Across the Stars: Machine Learning to Overcome the Brittleness of Autonomy,” 2016 IROS Workshop on Human-Robot Collaboration: Towards Co-Adaptive Learning Through Semi-Autonomy and Shared Control, Daejon, Korea, 2016.

N. Sweet and N. Ahmed, “Toward Natural Language Semantic Sensing in Dynamic State Spaces,” RSS 2016 Workshop on Model Learning for Human-Robot Communication, Ann Arbor, MI.

M. Aitken, N. Ahmed, D. Lawrence, B. Argrow, and E. Frew, “Assurances and Machine Self-Confidence for Enhanced Trust in Autonomous Systems,” RSS 2016 Workshop on Social Trust in Autonomous Robots, Ann Arbor, MI.