Journal Articles (peer-reviewed)

1. Notter, S., Gall, C., Müller, G.,  Ahmad, A., & Fichter, Walter (2023) Deep Reinforcement Learning Approach for Integrated Updraft Mapping and Exploitation, Journal of Guidance, Control, and Dynamics, vol. 0, no. 0, pp. 1-8, 2023. doi: https://doi.org/10.2514/1.G007572
2. 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 or at https://arxiv.org/abs/2209.13040
3. 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
4. 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
5.  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
6.  Tallamraju, R., Saini, N., Bonetto, E., Pabst, M., Liu, Y. T., Black, M., & 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
7.  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
8.  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
9.  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
10.  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
11.  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
12.  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
13.  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. & Ahmad, A. (2023) Synthetic Data-based Detection of Zebras in Drone Imagery, IEEE European Conference on Mobile Robots (ECMR 2023) (Accepted June 2023). Preprint available at https://arxiv.org/abs/2305.00432
2. Price, E. & Ahmad, A. (2023) Accelerated Video Annotation driven by Deep Detector and Tracker, 18th International Conference on Intelligent Autonomous Systems (IAS 18) (Accepted April 2023). Preprint available at https://arxiv.org/abs/2302.09590
3. Zuo, Y., Liu, Y. T. and Ahmad A. (2023), "Autonomous Blimp Control Via H∞ Robust Deep Residual Reinforcement Learning," 19th IEEE International Conference on Automation Science and Engineering (CASE), Auckland, New Zealand. Preprint available at https://arxiv.org/abs/2303.13929.
4. 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.
5. Patel, M., Bandopadhyay, A., & Ahmad, A. (2022). Collaborative Mapping of Archaeological Sites Using Multiple UAVs. In M. H. Ang Jr, H. Asama, W. Lin, & S. Foong (Eds.), Intelligent Autonomous Systems 16. (IAS 2021). Lecture Notes in Networks and Systems, vol 412 pp. 54--70. Springer International Publishing. https://doi.org/10.1007/978-3-030-95892-3_5
6. 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 pp. 608-626. https://doi.org/10.1007/978-3-030-95892-3_46
7.  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
8.  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
9. 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. Proceedings 2019 IEEE/CVF International Conference on Computer Vision (ICCV), 823--832. https://doi.org/10.1109/ICCV.2019.00091
10.  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.
11. 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
12. Ahmad, A., Ruff, E., & Bülthoff, H. (2016). Dynamic baseline stereo vision-based cooperative target tracking. 19th International Conference on Information Fusion, 1728–1734.
13.  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
14.  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
15.  Odelga, M., Stegagno, P., Bülthoff, H., & Ahmad, A. (2015). A Setup for multi-UAV hardware-in-the-loop simulations. 204–210. https://doi.org/10.1109/RED-UAS.2015.7441008
16.  Ahmad, A., & Lima, P. (2015). Dataset Suite for Benchmarking Perception in Robotics. International Conference on Intelligent Robots and Systems (IROS) 2015.
17.  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
18. 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.
19. 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.
20.  Troppan, A., Guerreiro, E., Celiberti, F., Santos, G., Ahmad, A., & Lima, P. (2013). Unknown-color spherical object detection and tracking. 1–4. https://doi.org/10.1109/Robotica.2013.6623533
21.  Ahmad, A., Tipaldi, G., Lima, P., & Burgard, W. (2013). Cooperative Robot Localization and Target Tracking based on Least Squares Minimization. 5696–5701. https://doi.org/10.1109/ICRA.2013.6631396
22.  Ahmad, A., Nascimento, T., Conceicao, A., Moreira, A., & Lima, P. (2013). Perception-driven multi-robot formation control. 1851–1856. https://doi.org/10.1109/ICRA.2013.6630821
23.  Ahmad, A., & Lima, P. (2013). Multi-Robot Cooperative Object Tracking Based on Particle Filters. Robotics and Autonomous Systems, 61(10), 1084--1093. https://doi.org/10.1016/j.robot.2012.12.008
24.  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
25.  Ahmad, A., Del Bue, A., & Lima, P. (2009). Background Subtraction Based on Rank Constraint for Point  Trajectories. 1–3.
26.  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. 1–5.

 

Research Reports