Journal Articles (peer-reviewed)

1. Goldschmid, P. & Ahmad, A. (2024) Reinforcement learning based autonomous multi-rotor landing on moving platforms, Autonomous Robots, Springer. vol. 48, no. 13, June 2024. doi: https://doi.org/10.1007/s10514-024-10162-8
2. [Award Paper] Price, E., Black, M., & Ahmad, A. (2023) Viewpoint-driven Formation Control of Airships for Cooperative Target Tracking, IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3653-3660, June 2023. doi: https://doi.org/10.1109/LRA.2023.3264727 (Best Faculty Paper Award 2023: Best paper in 2023 from the Faculty of Aerospace Engineering and Geodesy at the University of Stuttgart)
3. Notter, S., Gall, C., Müller, G.,  Ahmad, A., & Fichter, W. (2023) Deep Reinforcement Learning Approach for Integrated Updraft Mapping and Exploitation, Journal of Guidance, Control, and Dynamics, vol. 46, no. 10, pp. 1997-2004, 2023. doi: https://doi.org/10.2514/1.G007572
4. Saini, N., Huang, C. -H. P., Black, M., & Ahmad, A. (2023)  SmartMocap: Joint Estimation of Human and Camera Motion Using Uncalibrated RGB Cameras,  IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3206-3213, June 2023, doi: https://doi.org/10.1109/LRA.2023.3264743
5. Bonetto, E., Goldschmid, P., Pabst, M., Black, M. J., & Ahmad, A. (2022) iRotate: Active visual SLAM for omnidirectional robots, Elsevier's Robotics and Autonomous Systems Journal, Volume 154, 2022, 104102, ISSN 0921-8890, doi: https://doi.org/10.1016/j.robot.2022.104102
6. Saini, N., Bonetto, E., Price, E., Ahmad, A., & Black, M. J. (2022). AirPose: Multi-View Fusion Network for Aerial 3D Human Pose and Shape Estimation, IEEE Robotics and Automation Letters, 7(2), 4805–4812. https://doi.org/10.1109/LRA.2022.3145494
7. Tallamraju, R., Saini, N., Bonetto, E., Pabst, M., Liu, Y. T., Black, M. J., & Ahmad, A. (2020). AirCapRL: Autonomous Aerial Human Motion Capture Using Deep Reinforcement Learning, IEEE Robotics and Automation Letters, 5(4), 6678–6685. https://doi.org/10.1109/LRA.2020.3013906
8. Tallamraju, R., Price, E., Ludwig, R., Karlapalem, K., Bülthoff, H. H., Black, M. J., & Ahmad, A. (2019). Active Perception based Formation Control for Multiple Aerial Vehicles, IEEE Robotics and Automation Letters, 4(4), 4491--4498. https://doi.org/10.1109/LRA.2019.2932570
9. Price, E., Lawless, G., Ludwig, R., Martinovic, I., Buelthoff, H. H., Black, M. J., & Ahmad, A. (2018). Deep Neural Network-based Cooperative Visual Tracking through Multiple Micro Aerial Vehicles, IEEE Robotics and Automation Letters, 3(4), 3193--3200. https://doi.org/10.1109/LRA.2018.2850224
10. Ahmad, A., Lawless, G., & Lima, P. (2017). An Online Scalable Approach to Unified Multirobot Cooperative Localization and Object Tracking, IEEE Transactions on Robotics (T-RO), 33, 1184–1199. https://doi.org/10.1109/TRO.2017.2715342
11. Ahmad, A., & Bülthoff, H. (2016). Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception, Elsevier's Robotics and Autonomous Systems Journal, 83, 275--286. https://doi.org/10.1016/j.robot.2016.06.002
12. Lima, P., Ahmad, A., Dias, A., Conceicão, A., Moreira, A., Silva, E., Almeida, L., Oliveira, L., & Nascimento, T. (2015). Formation control driven by cooperative object tracking, Elsevier's Robotics and Autonomous Systems Journal, 63(1), 68--79. https://doi.org/10.1016/j.robot.2014.08.018
13. Ahmad, A., Xavier, J., Santos-Victor, J., & Lima, P. (2014). 3D to 2D bijection for spherical objects under equidistant fisheye projection, Computer Vision and Image Understanding, 125, 172--183. https://doi.org/10.1016/j.cviu.2014.04.004
14. Ahmad, A., & Lima, P. (2013). Multi-robot cooperative spherical-object tracking in 3D space based on particle filters, Elsevier's Robotics and Autonomous Systems Journal, 61(10), 1084--1093. https://doi.org/10.1016/j.robot.2012.12.008

 

Conference Articles (peer-reviewed)

1. Bonetto, E.,  Xu, C., Ahmad, A. (2024) DynaPix SLAM: A Pixel-Based Dynamic Visual SLAM Approach, In The German Conference on Pattern Recognition 2024 (GCPR 2024) [Accepted]
2. Liu, Y. T. & Singh, N., Ahmad, A. (2024) Task and Domain Adaptive Reinforcement Learning for Robot Control, In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi, United Arab Emirates, 2024, pp. 656-663. https://doi.org/10.1109/IROS58592.2024.10801963
3. Liu, Y. T. & Ahmad, A. (2024) Multi-Task Reinforcement Learning in Continuous Control with Successor Feature-Based Concurrent Composition, 2024 European Control Conference (ECC 2024), Stockholm, Sweden, 2024, pp. 3860-3867. https://doi.org/10.23919/ECC64448.2024.10591301
4. [Award Paper] Price, E. & Ahmad, A. (2024) Airship Formations for Animal Motion Capture and Behavior Analysis,  In 2nd International Conference on Design and Engineering of Lighter-Than-Air systems (DELTAs 2024), Mumbai, India. Preprint: https://arxiv.org/abs/2404.08986 (Awarded the 'Best Paper Award' for papers presented on Day 2 of the conference).
5. Gall, C., Fichter, W.  & Ahmad, A. (2024) End-to-End Thermal Updraft Detection and Estimation for Autonomous Soaring Using Temporal Convolutional Networks, In 2024 IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, pp. 17875-17881. https://doi.org/10.1109/ICRA57147.2024.10611479
6. Bonetto, E. & Ahmad, A. (2023) Synthetic Data-based Detection of Zebras in Drone Imagery, IEEE European Conference on Mobile Robots (ECMR 2023), 1-8 . https://doi.org/10.1109/ECMR59166.2023.10256293
7. Price, E. & Ahmad, A. (2023) Accelerated Video Annotation driven by Deep Detector and Tracker, 18th International Conference on Intelligent Autonomous Systems (IAS 18). https://link.springer.com/chapter/10.1007/978-3-031-44981-9_12
8. Zuo, Y., Liu, Y. T. and Ahmad A. (2023), Autonomous Blimp Control via H-infinity Robust Deep Residual Reinforcement Learning, 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE 2023), Auckland, New Zealand, 2023, pp. 1-8. https://doi.org/10.1109/CASE56687.2023.10260561
9. Liu, Y. T., Price, E., Black, M.J., Ahmad, A. (2022) Deep Residual Reinforcement Learning based Autonomous Blimp Control, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 12566-12573, 2022. https://doi.org/10.1109/IROS47612.2022.9981182
10. Patel, M., Bandopadhyay, A., & Ahmad, A. (2022). Collaborative Mapping of Archaeological Sites Using Multiple UAVs,  In: Ang Jr, M.H., Asama, H., Lin, W., Foong, S. (eds) Intelligent Autonomous Systems 16. IAS 2021. Lecture Notes in Networks and Systems, vol 412. Springer, Cham. https://doi.org/10.1007/978-3-030-95892-3_5
11. Price, E., Liu, Y. T., Black, M. J., & Ahmad, A. (2022). Simulation and Control of Deformable Autonomous Airships in Turbulent Wind. In: Ang Jr, M.H., Asama, H., Lin, W., Foong, S. (eds) Intelligent Autonomous Systems 16. IAS 2021. Lecture Notes in Networks and Systems, vol 412. Springer, Cham. https://doi.org/10.1007/978-3-030-95892-3_46
12. Bonetto, E., Goldschmid, P., Black, M. J., & Ahmad, A. (2021). Active Visual SLAM with Independently Rotating Camera. 2021 European Conference on Mobile Robots (ECMR), 1–8. https://doi.org/10.1109/ECMR50962.2021.9568791
13. Tallamraju, R., Salunkhe, D., Rajappa, S., Ahmad, A., Karlapalem, K., & Shah, S. V. (2019). Motion Planning for Multi-Mobile-Manipulator Payload Transport Systems. 15th IEEE International Conference on Automation Science and Engineering (CASE), 1469--1474. https://doi.org/10.1109/COASE.2019.8842840
14. Saini, N., Price, E., Tallamraju, R., Enficiaud, R., Ludwig, R., Martinović, I., Ahmad, A., & Black, M. (2019). Markerless Outdoor Human Motion Capture Using Multiple Autonomous Micro Aerial Vehicles. 2019 IEEE/CVF International Conference on Computer Vision (ICCV), 823--832. https://doi.org/10.1109/ICCV.2019.00091
15. Tallamraju, R., Rajappa, S., Black, M. J., Karlapalem, K., & Ahmad, A. (2018). Decentralized MPC based Obstacle Avoidance for Multi-Robot Target Tracking Scenarios, 2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 1–8. https://doi.org/10.1109/SSRR.2018.8468655
16. Ahmad, A., Ruff, E., & Bülthoff, H. (2016). Dynamic baseline stereo vision-based cooperative target tracking, 19th International Conference on Information Fusion, 1728–1734.
17. Ahmad, A., & Bülthoff, H. (2015). Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception, 7th European Conference on Mobile Robots, 1–8. https://doi.org/10.1109/ECMR.2015.7324197
18. Sanz, D., Ahmad, A., & Lima, P. (2015). Onboard robust person detection and tracking for domestic service robots, Robot 2015: Second Iberian Robotics Conference, 547–559. https://doi.org/10.1007/978-3-319-27149-1_42
19. Odelga, M., Stegagno, P., Bülthoff, H., & Ahmad, A. (2015). A Setup for multi-UAV hardware-in-the-loop simulations. 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), Cancun, Mexico, 2015, pp. 204-210, https://doi.org/10.1109/RED-UAS.2015.7441008
20.  Ventura, R., & Ahmad, A. (2015). Towards Optimal Robot Navigation in Urban Homes, RoboCup Symposium 2014: Robot World Cup XVIII, 318–331. https://doi.org/10.1007/978-3-319-18615-3_26
21. Dwiputra, R., Berghofer, J., Amigoni, F., Bischoff, R., Bonarini, A., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., Ahmad, A., Awaad, I., Fontana, G., Hegger, F., Hochgeschwender, N., Schiaffonati, V., & Schneider, S. (2014). Overview on the RoCKIn@Work Challenge. 45th International Symposium on Robotics and the 8th German Conference on Robotics (ISR/ROBOTIK 2014).
22. Schneider, S., Hegger, F., Kraetzschmar, G., Amigoni, F., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Iocchi, L., Lima, P., Matteucci, M., Nardi, D., Awaad, I., Ahmad, A., Fontana, G., Hochgeschwender, N., & Schiaffonati, V. (2014). The RoCKIn@Home User Story. 45th International Symposium on Robotics and the 8th German Conference on Robotics (ISR/ROBOTIK 2014).
23. Troppan, A., Guerreiro, E., Celiberti, F., Santos, G., Ahmad, A., & Lima, P. (2013). Unknown-color spherical object detection and tracking. 2013 13th International Conference on Autonomous Robot Systems, Lisbon, Portugal, 2013, pp. 1-4, https://doi.org/10.1109/Robotica.2013.6623533
24. Ahmad, A., Tipaldi, G., Lima, P., & Burgard, W. (2013). Cooperative Robot Localization and Target Tracking based on Least Squares Minimization, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013, pp. 5696-5701. https://doi.org/10.1109/ICRA.2013.6631396
25. Ahmad, A., Nascimento, T., Conceicao, A., Moreira, A., & Lima, P. (2013). Perception-driven multi-robot formation control, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013, pp. 1851–1856. https://doi.org/10.1109/ICRA.2013.6630821
26. Ahmad, A., & Lima, P. (2011). Multi-Robot Cooperative Object Tracking Based on Particle Filters, 5th European Conference on Mobile Robots (ECMR 2011), Örebro, Sweden, pp. 37-42.
27. Lima, P., Santos, P., Oliveira, R., Ahmad, A., & Santos, J. (2011). Cooperative Localization Based on Visually Shared Objects, RoboCup 2010: Robot Soccer World Cup XIV, 350–361. https://doi.org/10.1007/978-3-642-20217-9_30
28. Ahmad, A., Del Bue, A., & Lima, P. (2009). Background Subtraction Based on Rank Constraint for Point  Trajectories, 15th Portuguese Conference on Pattern Recognition (RecPad 2009), pp. 1–3.
29. Ahmad, A., & Dhang, N. (2008). Probabilistic Roadmap Method and Real Time Gait Changing Technique Implementation for Travel Time Optimization on a Designed Six-legged Robot. 39th International Symposium on Robotics (ISR 2008), pp. 1–5.

Workshop Papers (non-peer reviewed) and Research Reports

1. Ahmad, A., Price, E., Goldschmid, P., Bonetto, E., Liu, Y., Khandelwal, P., Kerekes, V., Csoban, P. and Rubenstein, D. (2025) WildCap: Autonomous Non-Invasive Monitoring of Animal Behavior and Motion,
   1st German Robotics Conference 2025, Nürnberg, Germany (DOI awaited). Preprint available: https://bwsyncandshare.kit.edu/s/S5aPKgcrtoSwpjg
2. Bonetto, E. (2023). Generating Synthetic Data of Dynamic Environments with a Custom Issac Sim‑Based Framework, NVIDIA GPU Technology Conference (GTC) 2023, https://www.nvidia.com/en-us/on-demand/session/gtcspring23-s51570/
3. Bonetto, E., Xu, C., & Ahmad, A. (2023). Learning from synthetic data generated with GRADE, IEEE International Conference on Robotics and Automation (ICRA), Pretraining4Robotics workshop. https://openreview.net/forum?id=SUIOuV2y-Ce
4. Bonetto, E., Xu, C., & Ahmad, A. (2023). Simulation of Dynamic Environments for SLAM, IEEE International Conference on Robotics and Automation (ICRA), Active methods in autonomous navigation workshop. https://arxiv.org/abs/2305.04286
5. Bonetto, E. & Ahmad, A. (2021). Towards Active Visual SLAM, 2021 Deutsche Gesellschaft für Robotik (DGR days). https://h2t-projects.webarchiv.kit.edu/dgr2021/wp-content/uploads/2021/10/DGR-2021-Proceedings.pdf
6. Ahmad, A., Price, E., Tallamraju, R., Saini, N., Lawless, G., Ludwig, R., Martinovic, I., Bülthoff, H. H., & Black, M. J. (2019). AirCap -- Aerial Outdoor Motion Capture. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Workshop on Aerial Swarms.
7. Ahmad, A., & Lima, P. (2015). Dataset Suite for Benchmarking Perception in Robotics, IROS 2015 Workshop: Open Forum on Evaluation of Results, Replication of Experiments and Benchmarking in Robotics Research, International Conference on Intelligent Robots and Systems (IROS) 2015.
8. Ahmad, A., Amigoni, A., Awaad, I., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Fontana, G., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., Schiaffonati, V., & Schneider, S. (2014). RoCKIn@Work in a Nutshell (No. FP7-ICT-601012 Revision 1.2; Issues FP7-ICT-601012 Revision 1.2). RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics.
9. Ahmad, A., Amigoni, F., Awaad, I., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Fontana, G., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., & Schneider, S. (2014). RoCKIn@Home in a Nutshell (No. FP7-ICT-601012 Revision 0.8; Issues FP7-ICT-601012 Revision 0.8). RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics.
10. Messias, J., Ahmad, A., Reis, J., Serafim, M., & Lima, P. (2013). SocRob-MSL 2013 Team Description Paper for Middle Sized League. 17th Annual RoboCup International Symposium, 2013.
11. Ahmad, A., Awaad, I., Amigoni, F., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., & Schneider, S. (2013). D2.1.1 RoCKIn@Home - A Competition for Domestic Service Robots  Competition Design, Rule Book, and Scenario Construction (No. FP7-ICT-601012 Revision 0.7; Issues FP7-ICT-601012 Revision 0.7). RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics.
12. Ahmad, A., Awaad, I., Amigoni, F., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Fontana, G., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., Schiaffonati, V., & Schneider, S. (2013). D1.1 Specification of General Features of Scenarios and Robots for Benchmarking Through Competitions (No. FP7-ICT-601012 Revision 1.0; Issues FP7-ICT-601012 Revision 1.0). RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics.
13. Ahmad, A., Awaad, I., Amigoni, F., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., & Schneider, S. (2013). D2.1.4 RoCKIn@Work - Innovation in Mobile Industrial Manipulation Competition Design, Rule Book, and Scenario Construction (No. FP7-ICT-601012 Revision 0.7; Issues FP7-ICT-601012 Revision 0.7). RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics.
14. Messias, J., Ahmad, A., Reis, J., Sousa, J., & Lima, P. (2011). ISocRob-MSL 2011, Team Description Paper for Middle Sized League. 15th Annual RoboCup International Symposium.
15. Lima, P., Santos, J., Estilita, J., Barbosa, M., Ahmad, A., & Carreira, J. (2009). ISocRob-MSL 2009 Team Description Paper for Middle Sized League. 13th Annual RoboCup International Symposium.