Nisar R. Ahmed

Publication Activity (10 Years)

Years Active: 2008-2024
Publications (10 Years): 82

Top Topics

Outlier Rejection

Decision Process

Autonomous Agents

Top Venues

IEEE Trans. Robotics

Publications

Zhaozhong Chen, Harel Biggie, Nisar R. Ahmed, Simon Julier, Christoffer Heckman
Kalman Filter Auto-Tuning With Consistent and Robust Bayesian Optimization. IEEE Trans. Aerosp. Electron. Syst. 60 (2) (2024)
Brett W. Israelsen, Nisar R. Ahmed, Matthew Aitken, Eric W. Frew, Dale A. Lawrence, Brian Argrow
"A Good Bot Always Knows Its Limitations": Assessing Autonomous System Decision-making Competencies through Factorized Machine Self-confidence. CoRR (2024)
Ofer Dagan, Tycho L. Cinquini, Nisar R. Ahmed
Scalable Factor Graph-Based Heterogeneous Bayesian DDF for Dynamic Systems. CoRR (2024)
Aastha Acharya, Caleb Lee, Marissa D'Alonzo, Jared Shamwell, Nisar R. Ahmed, Rebecca L. Russell
Deep Modeling of Non-Gaussian Aleatoric Uncertainty. CoRR (2024)
Anne Theurkauf, Justin Kottinger, Nisar R. Ahmed, Morteza Lahijanian
Chance-Constrained Multi-Robot Motion Planning Under Gaussian Uncertainties. IEEE Robotics Autom. Lett. 9 (1) (2024)
Peter Amorese, Shohei Wakayama, Nisar R. Ahmed, Morteza Lahijanian
Online Pareto-Optimal Decision-Making for Complex Tasks using Active Inference. CoRR (2024)
Hunter M. Ray, Zakariya Laouar, Zachary Sunberg, Nisar R. Ahmed
Human-Centered Autonomy for UAS Target Search. ICRA (2024)
Nicholas Conlon, Nisar R. Ahmed, Daniel Szafir
A Survey of Algorithmic Methods for Competency Self-Assessments in Human-Autonomy Teaming. ACM Comput. Surv. 56 (7) (2024)
Aastha Acharya, Rebecca L. Russell, Nisar R. Ahmed
Learning to Forecast Aleatoric and Epistemic Uncertainties over Long Horizon Trajectories. CoRR (2023)
Hunter M. Ray, Zakariya Laouar, Zachary Sunberg, Nisar R. Ahmed
Human-Centered Autonomy for UAS Target Search. CoRR (2023)
Ofer Dagan, Tycho L. Cinquini, Nisar R. Ahmed
Non-Linear Heterogeneous Bayesian Decentralized Data Fusion. IROS (2023)
Akash Ratheesh, Ofer Dagan, Nisar R. Ahmed, Natasha Bosanac, Jay McMahon
Using Surprise Index for Competency Assessment in Autonomous Decision-Making. CoRR (2023)
Luke Burks, Hunter M. Ray, Jamison McGinley, Sousheel Vunnam, Nisar R. Ahmed
HARPS: An Online POMDP Framework for Human-Assisted Robotic Planning and Sensing. IEEE Trans. Robotics 39 (4) (2023)
Ofer Dagan, Tycho L. Cinquini, Luke Morrissey, Kristen Such, Nisar R. Ahmed, Christoffer Heckman
Towards Decentralized Heterogeneous Multi-Robot SLAM and Target Tracking. CoRR (2023)
Nicholas Conlon, Aastha Acharya, Nisar R. Ahmed
AAAI 2022 Fall Symposium: Lessons Learned for Autonomous Assessment of Machine Abilities (LLAAMA). CoRR (2023)
Shohei Wakayama, Nisar R. Ahmed
Probabilistic Semantic Data Association for Collaborative Human-Robot Sensing. IEEE Trans. Robotics 39 (4) (2023)
Zhaozhong Chen, Harel Biggie, Nisar R. Ahmed, Simon Julier, Christoffer Heckman
Kalman Filter Auto-tuning through Enforcing Chi-Squared Normalized Error Distributions with Bayesian Optimization. CoRR (2023)
Nisar R. Ahmed, Luke Burks, Kailah Cabral, Alyssa Bekai Rose
Exact Consistency Tests for Gaussian Mixture Filters using Normalized Deviation Squared Statistics. CoRR (2023)
Nicholas Conlon, Nisar R. Ahmed, Daniel Szafir
Dynamic Competency Self-Assessment for Autonomous Agents. CoRR (2023)
Ofer Dagan, Nisar R. Ahmed
Exact and Approximate Heterogeneous Bayesian Decentralized Data Fusion. IEEE Trans. Robotics 39 (2) (2023)
Nicholas Conlon, Nisar R. Ahmed, Daniel Szafir
Event-triggered robot self-assessment to aid in autonomy adjustment. Frontiers Robotics AI 10 (2023)
Christopher Funk, Ofer Dagan, Benjamin Noack, Nisar R. Ahmed
Exploiting Structure for Optimal Multi-Agent Bayesian Decentralized Estimation. CoRR (2023)
Aastha Acharya, Rebecca L. Russell, Nisar R. Ahmed
Learning to Forecast Aleatoric and Epistemic Uncertainties over Long Horizon Trajectories. ICRA (2023)
Aastha Acharya, Rebecca L. Russell, Nisar R. Ahmed
Competency Assessment for Autonomous Agents using Deep Generative Models. IROS (2022)
Aastha Acharya, Rebecca L. Russell, Nisar R. Ahmed
Uncertainty Quantification for Competency Assessment of Autonomous Agents. CoRR (2022)
Brett W. Israelsen, Nisar R. Ahmed
A Factor-Based Framework for Decision-Making Competency Self-Assessment. CoRR (2022)
Hunter M. Ray, Ryan Singer, Nisar R. Ahmed
A Review of the Operational Use of UAS in Public Safety Emergency Incidents. CoRR (2022)
Nicholas Conlon, Daniel Szafir, Nisar R. Ahmed
"I'mConfident This Will End Poorly": Robot Proficiency Self-Assessment in Human-Robot Teaming. IROS (2022)
Ofer Dagan, Tycho L. Cinquini, Nisar R. Ahmed
Heterogeneous Bayesian Decentralized Data Fusion: An Empirical Study. CoRR (2022)
Aastha Acharya, Rebecca L. Russell, Nisar R. Ahmed
Competency Assessment for Autonomous Agents using Deep Generative Models. CoRR (2022)
Ofer Dagan, Nisar R. Ahmed
Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems. IROS (2022)
Ofer Dagan, Nisar R. Ahmed
Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems. CoRR (2022)
Nicholas Conlon, Daniel Szafir, Nisar R. Ahmed
Investigating the Effects of Robot Proficiency Self-Assessment on Trust and Performance. CoRR (2022)
Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar R. Ahmed
Time Dependence in Kalman Filter Tuning. CoRR (2021)
Ofer Dagan, Nisar R. Ahmed
Factor Graphs for Heterogeneous Bayesian Decentralized Data Fusion. CoRR (2021)
Jack D. Center, Nisar R. Ahmed
Data Fusion-Aware Motion Planning for Ad Hoc Robotic Search Teams. SSRR (2021)
Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar R. Ahmed
Time Dependence in Kalman Filter Tuning. FUSION (2021)
Luke Burks, Hunter M. Ray, Jamison McGinley, Sousheel Vunnam, Nisar R. Ahmed
Semantic Sensing and Planning for Human-Robot Collaboration in Uncertain Environments. CoRR (2021)
Steve McGuire, P. Michael Furlong, Christoffer Heckman, Simon Julier, Nisar R. Ahmed
Human-Aware Reinforcement Learning for Fault Recovery Using Contextual Gaussian Processes. J. Aerosp. Inf. Syst. 18 (7) (2021)
Jeremy Muesing, Nisar R. Ahmed, Luke Burks, Michael L. Iuzzolino, Danielle Albers Szafir
Fully Bayesian Human-Machine Data Fusion for Robust Online Dynamic Target Characterization. J. Aerosp. Inf. Syst. 18 (2) (2021)
Ofer Dagan, Nisar R. Ahmed
Factor Graphs for Heterogeneous Bayesian Decentralized Data Fusion. FUSION (2021)
Luke Burks, Nisar R. Ahmed, Ian Loefgren, Luke Barbier, Jeremy Muesing, Jamison McGinley, Sousheel Vunnam
Collaborative human-autonomy semantic sensing through structured POMDP planning. Robotics Auton. Syst. 140 (2021)
Ofer Dagan, Nisar R. Ahmed
Exact and Approximate Heterogeneous Bayesian Decentralized Data Fusion. CoRR (2021)
Aastha Acharya, Rebecca L. Russell, Nisar R. Ahmed
Explaining Conditions for Reinforcement Learning Behaviors from Real and Imagined Data. CoRR (2020)
Michael L. Iuzzolino, Tetsumichi Umada, Nisar R. Ahmed, Danielle Albers Szafir
In Automation We Trust: Investigating the Role of Uncertainty in Active Learning Systems. CoRR (2020)
Ramya Kanlapuli Rajasekaran, Nisar R. Ahmed, Eric W. Frew
Bayesian Fusion of Unlabeled Vision and RF Data for Aerial Tracking of Ground Targets. IROS (2020)
Ofer Dagan, Nisar R. Ahmed
Heterogeneous Decentralized Fusion Using Conditionally Factorized Channel Filters. MFI (2020)
Zhaozhong Chen, Nisar R. Ahmed, Simon Julier, Christoffer Heckman
Kalman Filter Tuning with Bayesian Optimization. CoRR (2019)
Nisar R. Ahmed
Decentralized Gaussian Mixture Fusion through Unified Quotient Approximations. CoRR (2019)
Luke Burks, Ian Loefgren, Nisar R. Ahmed
Optimal Continuous State POMDP Planning With Semantic Observations: A Variational Approach. IEEE Trans. Robotics 35 (6) (2019)
Luke Burks, Nisar R. Ahmed
Collaborative Semantic Data Fusion with Dynamically Observable Decision Processes. FUSION (2019)
Steve McGuire, P. Michael Furlong, Terry Fong, Christoffer Heckman, Daniel Szafir, Simon J. Julier, Nisar R. Ahmed
Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in Robotic Space Operations. IEEE Robotics Autom. Lett. 4 (2) (2019)
John Stechschulte, Nisar R. Ahmed, Christoffer Heckman
Robust low-overlap 3-D point cloud registration for outlier rejection. ICRA (2019)
Brett W. Israelsen, Nisar R. Ahmed, Eric W. Frew, Dale A. Lawrence, Brian Argrow
Machine Self-confidence in Autonomous Systems via Meta-analysis of Decision Processes. AHFE (14) (2019)
Brett W. Israelsen, Nisar R. Ahmed
"Dave...I can assure you ...that it's going to be all right ..." A Definition, Case for, and Survey of Algorithmic Assurances in Human-Autonomy Trust Relationships. ACM Comput. Surv. 51 (6) (2019)
John Klingner, Nisar R. Ahmed, Nikolaus Correll
Fault-tolerant Covariance Intersection for localizing robot swarms. Robotics Auton. Syst. 122 (2019)
Ian Loefgren, Nisar R. Ahmed, Eric W. Frew, Christoffer Heckman, Sean Humbert
Scalable Event-Triggered Data Fusion for Autonomous Cooperative Swarm Localization. FUSION (2019)
Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar R. Ahmed
Weak in the NEES?: Auto-tuning Kalman Filters with Bayesian Optimization. CoRR (2018)
Steve McGuire, P. Michael Furlong, Christoffer Heckman, Simon Julier, Daniel Szafir, Nisar R. Ahmed
Failure is Not an Option: Policy Learning for Adaptive Recovery in Space Operations. IEEE Robotics Autom. Lett. 3 (3) (2018)
Brett W. Israelsen, Nisar R. Ahmed, Eric W. Frew, Dale A. Lawrence, Brian Argrow
Machine Self-Confidence in Autonomous Systems via Meta-Analysis of Decision Processes. CoRR (2018)
Luke Burks, Ian Loefgren, Luke Barbier, Jeremy Muesing, Jamison McGinley, Sousheel Vunnam, Nisar R. Ahmed
Closed-Loop Bayesian Semantic Data Fusion for Collaborative Human-Autonomy Target Search. FUSION (2018)
Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar R. Ahmed
Weak in the NEES?: Auto-Tuning Kalman Filters with Bayesian Optimization. FUSION (2018)
John Klingner, Nisar R. Ahmed, Nikolaus Correll
Fault-Tolerant Covariance Intersection for Localizing Robot Swarms. DARS (2018)
Michael T. Ouimet, David Iglesias, Nisar R. Ahmed, Sonia Martínez
Cooperative Robot Localization Using Event-Triggered Estimation. J. Aerosp. Inf. Syst. 15 (7) (2018)
Nisar R. Ahmed
Data-Free/Data-Sparse Softmax Parameter Estimation With Structured Class Geometries. IEEE Signal Process. Lett. 25 (9) (2018)
Brett W. Israelsen, Nisar R. Ahmed, Kenneth Center, Roderick Green, Winston Bennett
Adaptive Simulation-Based Training of Artificial-Intelligence Decision Makers Using Bayesian Optimization. J. Aerosp. Inf. Syst. 15 (2) (2018)
Luke Burks, Ian Loefgren, Nisar R. Ahmed
Optimal Continuous State POMDP Planning with Semantic Observations: A Variational Approach. CoRR (2018)
Steve McGuire, Christoffer Heckman, Daniel Szafir, Simon Julier, Nisar R. Ahmed
Extrinisic Calibration of a Camera-Arm System Through Rotation Identification. CoRR (2018)
Luke Burks, Ian Loefgren, Luke Barbier, Jeremy Muesing, Jamison McGinley, Sousheel Vunnam, Nisar R. Ahmed
Closed-loop Bayesian Semantic Data Fusion for Collaborative Human-Autonomy Target Search. CoRR (2018)
Steven J. Dourmashkin, Nisar R. Ahmed, Dennis M. Akos, William W. Whitacre
GPS-limited cooperative localization using scalable approximate decentralized data fusion. PLANS (2018)
Sangwoo Moon, Vinod Ramaswamy, Eric W. Frew, Nisar R. Ahmed
Co-optimization of communication, sensing, and computation for information gathering using cloud computing. CCTA (2017)
Nisar R. Ahmed, David W. Casbeer, Yongcan Cao, Derek B. Kingston
Multitarget Localization on Road Networks with Hidden Markov Rao-Blackwellized Particle Filters. J. Aerosp. Inf. Syst. 14 (11) (2017)
Brett W. Israelsen, Nisar R. Ahmed
"Dave...I can assure you...that it's going to be all right..." - A definition, case for, and survey of algorithmic assurances in human-autonomy trust relationships. CoRR (2017)
Brett W. Israelsen, Nisar R. Ahmed, Kenneth Center, Roderick Green, Winston Bennett Jr.
Adaptive Simulation-based Training of AI Decision-makers using Bayesian Optimization. CoRR (2017)
Luke Burks, Nisar R. Ahmed
Optimal continuous state POMDP planning with semantic observations. CDC (2017)
Vinod Ramaswamy, Sangwoo Moon, Eric W. Frew, Nisar R. Ahmed
Mutual Information based communication aware path planning: A game theoretic perspective. IROS (2016)
Brett W. Israelsen, Nisar R. Ahmed, Kenneth Center, Roderick Green, Winston Bennett Jr.
Towards Adaptive Training of Agent-based Sparring Partners for Fighter Pilots. CoRR (2016)
Nisar R. Ahmed, William W. Whitacre, Sangwoo Moon, Eric W. Frew
Factorized covariance intersection for scalable partial state decentralized data fusion. FUSION (2016)
Brett W. Israelsen, Nisar R. Ahmed
Hybrid Repeat/Multi-point Sampling for Highly Volatile Objective Functions. CoRR (2016)
Rina Tse, Nisar R. Ahmed, Mark E. Campbell
Unified Terrain Mapping Model With Markov Random Fields. IEEE Trans. Robotics 31 (2) (2015)
Nisar R. Ahmed
What's one mixture divided by another?: A unified approach to high-fidelity distributed data fusion with mixture models. MFI (2015)
Nisar R. Ahmed, Mark E. Campbell, David W. Casbeer, Yongcan Cao, Derek B. Kingston
Fully bayesian learning and spatial reasoning with flexible human sensor networks. ICCPS (2015)
Nisar R. Ahmed, Tsung-Lin Yang, Mark E. Campbell
On Generalized Bayesian Data Fusion with Complex Models in Large Scale Networks. CoRR (2013)
Nisar R. Ahmed, Eric M. Sample, Mark E. Campbell
Bayesian Multicategorical Soft Data Fusion for Human-Robot Collaboration. IEEE Trans. Robotics 29 (1) (2013)
Nisar R. Ahmed, Mark E. Campbell
Fast Consistent Chernoff Fusion of Gaussian Mixtures for Ad Hoc Sensor Networks. IEEE Trans. Signal Process. 60 (12) (2012)
Nisar R. Ahmed, Mark E. Campbell
On estimating simple probabilistic discriminative models with subclasses. Expert Syst. Appl. 39 (7) (2012)
Rina Tse, Nisar R. Ahmed, Mark E. Campbell
Unified mixture-model based terrain estimation with Markov Random Fields. MFI (2012)
Nisar R. Ahmed, Jonathan R. Schoenberg, Mark E. Campbell
Fast Weighted Exponential Product Rules for Robust General Multi-Robot Data Fusion. Robotics: Science and Systems (2012)
Nisar R. Ahmed, Mark E. Campbell
Variational learning of autoregressive Mixtures of Experts for fully Bayesian hybrid system identification. ACC (2011)
Nisar R. Ahmed, Mark E. Campbell
Variational Bayesian Learning of Probabilistic Discriminative Models With Latent Softmax Variables. IEEE Trans. Signal Process. 59 (7) (2011)
Nisar R. Ahmed, Eric M. Sample, Ken Ho, Tauhira Hoossainy, Mark E. Campbell
Categorical soft data fusion via variational Bayesian importance sampling with applications to cooperative search. ACC (2011)
Nisar R. Ahmed, Mark E. Campbell
Variational Bayesian data fusion of multi-class discrete observations with applications to cooperative human-robot estimation. ICRA (2010)
Nisar R. Ahmed, Mark E. Campbell
Multimodal operator decision models. ACC (2008)