COHRINT: Cooperative Human-Robot Intelligence

Nisar R. Ahmed, Ph.D. 
Assistant Professor
Research and Engineering Center for Unmanned Vehicles (RECUV)
Department of Aerospace Engineering Sciences
University of Colorado Boulder

Office: ECAE 175
Office hours: Tuesday, 9-10am; 4:30- 5:30pm

My research focuses on developing algorithms and models that promote cooperative intelligence in mixed teams of humans and autonomous robotic vehicles. I currently work in three problem areas:

    -cooperative sensing and perception in human-robot teams
    -modeling and prediction of human decision making and task performance
    -robust fusion of complex information in dynamic sensor networks

Click on the links on the left to find out more. Also check out this link for related research at CU Boulder  

Research Talks

NIPS 2014 Workshop on "Human-propelled Machine Learning", Montreal, Canada, December 12, 2014

United Technologies Research Center, November 21, 2014

IEEE Multisensor Fusion and Info Integration Conference 

(MFI 2014), Beijing, China, 

September 28-30, 2014

CU Boulder Systems and Controls Seminar 

September 11, 2014

CU Boulder, Institute of Cognitive Science, 

February 14, 2014

UC San Diego MAE CCSD Seminar, 

November 22, 2013

Cornell University MAE Colloquium, 

September 17, 2013 

UIUC Aerospace Engineering, 

April 11,2013

CU Boulder Aerospace Engineering Sciences, 
March 18, 2013

UC Riverside Mechanical Engineering, 

March 1, 2013


February 11, 2013

MIT Aero-Astro Department, 

March 28, 2012


Congratulations to Matt Aitken and Nick Sweet for their MS Defenses!

MS students Matthew Aitken and Nicholas Sweet successfully defended their MS Theses on July 19 and 20, respectively. 

Matt's thesis: "Assured Human-Autonomy Interaction through Machine Self-Confidence"

Nick's thesis: "Semantic Likelihood Models for Bayesian Inference in Human-Robot Interaction"

Matt is going on to join Draper (Cambridge, MA), and Nick will join Maidbot (Austin, TX). 

We all wish them both the very best as they kick off exciting futures in robotics! 

ACC 2016 Boston Workshop on "Collaborative Learning, Sensing and Control in Human-Machine Systems"

Girish Chowdhary, Soumik Sarkar, Luca Bertucelli and I organized this workshop in early July -- click here to see the slides from all of the great speakers who participated. Thanks to all participants for making this workshop a great success!

ACC 2016 Paper Accepted

"Structured Synthesis and Compression of Semantic Human Sensor Models for Bayesian Estimation," by Nicholas Sweet and Nisar Ahmed (IEEEXplore link to final paper)

ICCPS 2016 Paper Accepted

"Deep Value of Information Estimators for Collaborative Human-Machine Information Gathering," by Kin Gwn Lore, Nicholas Sweet, Kundan Kumar, Nisar Ahmed and Soumik Sarkar (arXiv pre-print version)

Two New AIAA InfoTech@Aerospace Conference Papers Presented at SciTech 2016, San Diego

"Scalable Decentralized Target Localization with Ownship Uncertainties," by Nisar Ahmed, William Whitacre, Sangwoo Moon and Eric Frew (AIAA ARC link)

"Towards Self-Confidence in Autonomous Systems," by Nicholas Sweet, Nisar Ahmed, Ugur Kuter and Christopher Miller (AIAA ARC link)

MFI 2015 Conference Papers and Workshop on Distributed Sensor Fusion Accepted

"Event-based Cooperative Localization using Implicit and Explicit Measurements," by Michael Ouimet, Nisar Ahmed, and Sonia Martinez (final paper)

"What's One Mixture Divided by Another?: A Unified Approach to High-fidelity Distributed Data Fusion with Mixture Models," by Nisar Ahmed (final paper)

I am also co-organizing a full-day MFI 2015 workshop on Large-scale Bayesian Data Fusion and Consensus

Paper Accepted to RSS 2015 Workshop on Model Learning for Human-Robot Communication
"Softmax Modeling of Piecewise Semantics in Arbitrary State Spaces for 'Plug and Play' Human-Robot Sensor Fusion," by Nisar Ahmed and Nicholas Sweet (final paper, workshop site)

I also co-organized the RSS 2015 Workshop on Realistic, Rapid and Repeatable Robot Simulation

IEEE Transactions on Robotics Paper Published

"Unified Mixture-Model Based Terrain Estimation with Markov Random Fields," by Rina Tse, Nisar Ahmed, and Mark Campbell published in IEEE Transactions on Robotics (final paper)

Cyberphysical Systems (ICCPS 2015) Paper Accepted 

"Fully Bayesian Learning and Spatial Reasoning with Flexible Human Sensor Networks," by N. Ahmed, M. Campbell, D. Casbeer, Y. Cao, and D. Kingston presented in Seattle, WA, April 14-16, 2015 (final paper)

SPIE Defense and Security Symposium (DSS 2015) Paper Accepted 

"Bayesian Hidden Markov Models for UAV-Enabled Target Localization on Road Networks with Soft-Hard Data," by N. Ahmed, D. Casbeer, Y. Cao, and D. Kingston presented in Baltimore, MD, April 20-24, 2015 (final paper)

In Press: New Book Chapter on Multisensor Data Fusion  

"Decentralized Bayesian Fusion in Networks with Non-Gaussian Uncertainties", by Nisar R. Ahmed, Simon J. Julier, Jonathan R. Schoenberg, and Mark E. Campbell to be published in forthcoming book Multisensor Data Fusion: From Algorithm and Architecture Design to Applications (CRC Press, H. Fourati and K. Iniewski, Eds.) (final unformatted draft)

Multisensor Fusion and Integration (MFI 2014) Paper Accepted

"Conditionally Factorized DDF for General Distributed Bayesian Estimation" to be presented at Tsinghua University, Beijing China, September 28-30, 2014 (download paper)

ASEE Air Force Summer Faculty Fellowship

I have been selected to the ASEE Summer Faculty Fellowship Program, and will be spending the summer working with Dr. Derek Kingston, Dr. David Casbeer, and other members of the Control Science Center of Excellence at the Air Force Research Lab at Wright-Patterson AFB in Dayton, OH.

Robotics: Science and Systems X Workshop Proposal on Distributed Control and Estimation Accepted

I am co-organizing a workshop at the RSS Conference in Berkeley this July on "Distributed Control and Estimation for Robotic Vehicle Networks" -- we have lots of great speakers lined up, please check the link for more information and updates as they occur. Hope to see you there!

Welcome, Nick Sweet!

AES grad student Nicholas Sweet joins the research group -- welcome Nick! (check out his webpage)

Ergonomics Journal Paper Accepted

Joint work with cognitive scientists at George Mason University (Ewart de Visser, Tyler Shaw, Amira Mohammed-Ameen, Raja Parasuraman) to appear in forthcoming special issue: "Statistical modelling of networked human-automation performance using working memory capacity". Journal link

AAAI Workshops: "Intersection of Robust Intelligence and Trust in Autonomous Systems" and "Formal Verification for Human-Machine Systems", Palo Alto, CA, March 24-26, 2014

Abstracts accepted for workshops to be held during AAAI 2014 Spring Symposium at Stanford University. Workshop links: IRITAS, FVHMS

New Matlab Demo Code: Variational Bayesian PWARX Hybrid System Identification

Free self-contained code added to "Code and data sets" page

AAAI Workshop on Intelligent Robotic Systems, Bellevue, WA, July 14-15, 2013

Presenting overview of work on cooperative Bayesian human-robot perception. Workshop link

WISENET, Duke University, June 5, 2013

Presenting recent work on Bayesian distributed data fusion with complex models. Workshop link, arXiv link to paper

New Matlab Demo Code: Bayesian Infinite/Finite Gaussian Mixture Learning 

Free self-contained code added to "Code and data sets" page

New Matlab Demo Code: Bayesian Soft Data Fusion (T-RO 2013 paper) 

Free self-contained code added to "Code and data sets" page 

Best Poster Award, Distributed Autonomous Robotic Systems (DARS 2012), Baltimore, MD

Our poster, "Bayesian Sketch and Share: Enhanced Information Fusion for Mixed Large Scale Robot-Human Search Teams", was a hit at DARS 2012-- thanks again to everybody who stopped by to chat and share ideas! See the poster and find out more

Best Technical Paper Award, 2011 AIAA Conference on Guidance, Navigation and Control (GNC 2011)

Student Projects on Human-Robot Data Fusion Featured in the Cornell Chronicle

Article link here