Publications

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Most Recent Work (2019-21)


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 (accepted, in press).

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, 113:1-113:37draft 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.