Contact

Aamir Ahmad

Address: Spemannstr. 44
72076 Tübingen
Room number: 2.VR.03
Phone: +49 7071 601 218
Fax: +49 7071 601 616
E-Mail: aamir.ahmad

 

Picture of Ahmad, Aamir

Aamir Ahmad

Position: Postdoctoral Fellow  Unit: Alumni Bülthoff

I am a Marie Curie postdoctoral researcher at the Autonomous Robotics and Human-Machine Systems group. My research vision is outlined below. You are also welcome to visit my personal website www.aamirahmad.com

 

  • Sensor Fusion - Arguably, this is perhaps one of the most celebrated research areas among roboticists of all times. My focus is to study and develop unified methods for sensor fusion that are not only scalable to large environments but also simultaneously to a large number of sensors.
  • Robot Vision - Target tracking, robot localization and mapping using robotic vision is my primary focus. At the same time, I am interested in studying cameras that follow non-conventional projection models, e.g., fisheye lens-based cameras that follow equidistant projection. Their non-conventional optics fascinates me and leads me to believe they can be exploited for far more efficient and elegant vision algorithms than the current state-of-the-art.
  • Human-Robot Interaction - The human factor in successful real-world deployment of robotic systems is undeniable. Whether it concerns remotely operating robots or dealing one-to-one with an assistant robot in a public place, interaction not only needs to be natural for humans but also cost effective for the robotic system such that their performance in real time is guaranteed. The issue is further amplified when we consider human interaction with multi-robot systems and in large environments. My research focus is to study how i) the naturalness of human-robot interaction and ii) scalability of multi-robot functionalities, are correlated and to develop unified methods that efficiently handle the trade-offs between the aforementioned.

 


 

Softwares and Datasets (developed and maintained by me)

 

Datasets:

  • Omni-dataset: Time-stamped sensor data acquired from four omni-directional soccer robots of the SocRob team can be downloaded from here. The dataset also contains groundtruth information acquired via an external vision system.
  • DSR dataset: Domestic service robot dataset. It consists of time-stamped sensor data acquired by one service robot moving around in a real home-like environment while a person randomly walks around in the same environment. The dataset can be downloaded from here. Ground truth information is also provided.

Software:

  • ROS package 'read_omni_dataset' to systematically read sensor messages from the omni-dataset: Download the source here.
  • ROS package 'evaluate_omni_dataset' to do GT evaluation and benchamarking with the omni-dataset and is expected to be executed with 'read_omni_dataset'. Download the source here.
  • ROS package 'read_dsr_dataset' to systematically read sensor messages from the DSR dataset: Download the source here.
  • ROS package 'evaluate_dsr_dataset' to do GT evaluation and benchamarking with the DSR dataset and is expected to be executed with 'read_dsr_dataset'. Download the source here.

 

 

Current Project:

 

  • TRaVERSE: TowaRds Very large scalE human-Robot SynErgy- (Funded by EU-FP7 Marie Curie IEF) Hazardous work environment for humans, growing necessity for an increase in the worldwide agricultural production, and a rapid rise in the public healthcare expenditures due to aging population are among some of the most predominant societal issues where robotics and automation are becoming progressively vital. Distributed multi-robot teams consisting of a large number of robots operating in close cooperation with humans is fundamental for such applications. How to achieve maximum synergy between teams of robots and humans, without jeopardizing human safety and comfort, within the constraints of resources, e.g., computational capacity of the robots, sensor and actuator costs, is still an open question. The focus of this research project is on investigating and developing integrated methods for robot team functionalities with human interaction that are scalable to a very large number of robots, thus enabling their successful real-world deployment. Using state of the art, ecologically valid and immersive virtual environments and virtual reality equipments, the project will study and model human behavior, perception and cognitive responses when they interact and/or cooperate with robots in a large-scale multi-robot scenario. Clear distinction will be made between human users and operators where the former is expected to benefit from directly using a robot that functions as a part of a large robotic team. On the other hand, human operators are those that are in charge of cooperating/controlling a team of robots to accomplish a collaborative task. Eventually, using the human behavior models, cooperative multi-robot functionalities, including localization, mapping and motion planning, will be optimally designed to be extremely scalable within the constraints of ease, safety, effectiveness and naturalness of human user/operator interaction with the robots.

 

Previous Projects:

 

  • RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics (FP7-EU-601012) [Quoted from the project's website] “RoCKIn is an EU project that will be run over the next three years (2013-2016), consisting of robot competitions, symposiums, educational RoCKIn camps and technology transfer workshops. The mission is to act as a catalyst for smarter, more dependable robots. It is done by building upon the principles of challenge-driven innovation laid down by RoboCup, facilitating cognitive and networked robot systems' testing, and streamlining research and development through standardised testbeds and benchmarks. For this there are two challenges which will run concurrently in 2014 and 2015 with an introductory event to be held in June 2013. These challenges were selected due to their high relevance and impact on Europe's societal and industrial needs.” http://rockinrobotchallenge.eu/
  • PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control (FCT PTDC/EEA-CRO/100692/2008) [Quoted from the project's wiki] Several robotic tasks require or benefit from the cooperation of multiple robots: transportation of large-size objects, large area coverage (e.g., for cleaning) or surveillance (e.g., for fire detection), pollutant plume tracking, or target detection and tracking, to name but a few. In this project, a novel active approach to cooperative perception through coordinated vehicle motion control is proposed. The vehicle formation geometry will change dynamically so as to optimize the accuracy of cooperative perception of a static or dynamic target by the formation vehicles. To achieve this, innovative decentralized low-communication formation full state estimation methods, and dynamic-goal-driven formation control, for cooperative target localization and tracking by decentralized fusion of the data measured by all the formation vehicles have been introduced. http://mediawiki.isr.ist.utl.pt/wiki/PCMMC:_Perception-Driven_Coordinated_Multi-Robot_Motion_Control
  • URUS: Ubiquitous Networking Robotics in Urban Settings [Quoted from the project's website] In this project the idea of incorporating a network of robots (robots, intelligent sensors, devices and communications) in order to improve life quality in urban areas was analyzed and tested. The URUS project was focused in designing a network of robots that in a cooperative way interact with human beings and the environment for tasks of assistance, transportation of goods, and surveillance in urban areas. Specifically, the objective was to design and develop a cognitive network robot architecture that integrates cooperating urban robots, intelligent sensors, intelligent devices and communications. http://urus.upc.es/
  • SocRob [Quoted from the project's website] SocRob is a project on Cooperative Robotics and Multi-Agent Systems carried out by the Intelligent Systems Laboratory at ISR/IST. The acronym of the project stands both for “Society of Robots” and “Soccer Robots”, the case study where we are testing our population of four robots. http://socrob.isr.ist.utl.pt/

Academic


  • (2013) PhD, Electrical and Computer Engineering. Thesis title: An Integrated Bayesian Approach to Multi-Robot Cooperative Perception. School and University: Institute for Systems and Robotics, Instituto Superior Técnico, Universidade Técnica de Lisboa (Universidade de Lisboa), Lisbon, Portugal.
  • (2008) Bachelor of Technology (Honours), Indian Institute of Technology (IIT), Kharagpur, India.

 

Scientific


  • (Mar 2013 - Aug 2014) Research grantee in the European project RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics (FP7-EU-601012)
  • (Feb 2010 - Feb 2013) Research grantee in the Portuguese project PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control (FCT PTDC/EEA-CRO/100692/2008)
  • (Feb 2009 - Jan 2010) Research grantee in the European project URUS: Ubiquitous Networking Robotics in Urban Settings (FP6-EU-IST-045062)
  • (Aug 2008 - Aug 2014) Member of the Portuguese RoboCup team SocRob
  • (Aug 2008 - Aug 2014) Member of the IRSGroup-Intelligent Robot and Systems (IRS) Group at Instute for Systems and Robotics (ISR)
  • Responsible Person (R.P.) , RoboCup Challenge @ India 2009 and 2010

Ahmad A and Lima P (September-28-2015) Invited Lecture: Dataset Suite for Benchmarking Perception in Robotics, IROS 2015 Workshop: Open Forum on Evaluation of Results, Replication of Experiments and Benchmarking in Robotics Research, Hamburg, Germany.
html CiteID: AhmadL2015

Ahmad A , Lima P, Schneider S, Hegger F, Kraetzschmar GK, Amigoni F, Berghofer J, Bischoff R, Bonarini A, Dwiputra R, Iocchi L, Matteucci M, Nardi D, Awaad I, Fontana G, Hochgeschwender N and Schiaffonati V (June-2-2014) Abstract Talk: The RoCKIn@Home User Story, 45th International Symposium on Robotics and the 8th German Conference on Robotics (ISR/ROBOTIK 2014), München, Germany.
html CiteID: SchneiderHKABBBDILMNAAFHS2014

Ahmad A , Lima P, Schneider S, Hegger F, Kraetzschmar GK, Amigoni F, Berghofer J, Bischoff R, Bonarini A, Dwiputra R, Iocchi L, Matteucci M, Nardi D, Awaad I, Fontana G, Hochgeschwender N and Schiaffonati V (June-2-2014) Abstract Talk: Overview on the RoCKIn@Work Challenge, 45th International Symposium on Robotics and the 8th German Conference on Robotics (ISR/ROBOTIK 2014), München, Germany.
html CiteID: DwiputraBABBIKLMNAAFHHSS2014

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Articles (4):

Ahmad A and Bülthoff HH (September-2016) Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception Robotics and Autonomous Systems 83 275–286.
Lima PU, Ahmad A, Dias A, Conceição AGS, Moreira AP, Silva E, Almeida L, Oliveira L and Nascimento TP (January-2015) Formation control driven by cooperative object tracking Robotics and Autonomous Systems 63(1) 68–79.
Ahmad A, Xavier J, Santos-Victor J and Lima P (August-2014) 3D to 2D bijection for spherical objects under equidistant fisheye projection Computer Vision and Image Understanding 125 172–183.
Ahmad A and Lima P (October-2013) Multi-robot cooperative spherical-object tracking in 3D space based on particle filters Robotics and Autonomous Systems 61(10) 1084–1093.

Conference papers (12):

Ahmad A, Ruff E and Bülthoff HH (July-2016) Dynamic baseline stereo vision-based cooperative target tracking, 19th International Conference on Information Fusion (FUSION 2016), IEEE, Piscataway, NJ, USA, 1728-1734.
Odelga M, Stegagno P, Bülthoff HH and Ahmad A (November-2015) A Setup for multi-UAV hardware-in-the-loop simulations, 3rd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2015), IEEE, Piscataway, NJ, USA, 204-210.
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Sanz D, Ahmad A and Lima P (November-2015) Onboard robust person detection and tracking for domestic service robots In: Robot 2015: Second Iberian Robotics Conference, , Second Iberian Robotics Conference (ROBOT'2015), Springer, Cham, Switzerland, 547-559, Series: Advances in Intelligent Systems and Computing ; 418.
Ahmad A and Bülthoff HH (September-2015) Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception, 7th European Conference on Mobile Robots (ECMR 2015), IEEE, Piscataway, NJ, USA, 1-8.
Ventura R and Ahmad A (2015) Towards Optimal Robot Navigation in Urban Homes In: RoboCup 2014: Robot World Cup XVIII, , 18th Annual RoboCup International Symposium 2014, Springer, Cham, Switzerland, 318-331, Series: Lecture Notes in Computer Science ; 8992.
Ahmad A and Lima P (October-2013) Multi-Robot Cooperative Object Tracking Based on Particle Filters, 5th European Conference on Mobile Robots (ECMR 2011), Robotics and Autonomous Systems, 61(10), 1084–1093.
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Ahmad A, Tipaldi GD, Lima P and Burgard W (May-2013) Cooperative Robot Localization and Target Tracking based on Least Squares Minimization, IEEE International Conference on Robotics and Automation (ICRA 2013), IEEE, Piscataway, NJ, USA, 5696-5701.
Ahmad A, Nascimento T, Conceicao AGS, Moreira AP and Lima P (May-2013) Perception-driven multi-robot formation control, IEEE International Conference on Robotics and Automation (ICRA 2013), IEEE, Piscataway, NJ, USA, 1851-1856.
Troppan A, Guerreiro E, Celiberti F, Santos G, Ahmad A and Lima PU (April-2013) Unknown-color spherical object detection and tracking, 13th International Conference on Autonomous Robot Systems (Robotica 2013), IEEE, Piscataway, NJ, USA, 1-4.
Lima PU, Santos P, Oliveira R, Ahmad A and Santos J (2011) Cooperative Localization Based on Visually Shared Objects In: RoboCup 2010: Robot Soccer World Cup XIV, , 14th Annual RoboCup International Symposium 2010, Springer, Berlin, Germany, 350-361, Series: Lecture Notes in Computer Science ; 6556.
Ahmad A, Del Bue A and Lima P (October-2009) Background Subtraction Based on Rank Constraint for Point Trajectories, 15th Portuguese Conference on Pattern Recognition (RecPad 2009), 1-3.
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Ahmad A and Dhang N (October-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), 1-5.
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Technical reports (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 and Schneider S: RoCKIn@Work in a Nutshell, FP7-ICT-601012 Revision 1.2, RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, (March-31-2014).
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 and Schneider S: RoCKIn@Home in a Nutshell, FP7-ICT-601012 Revision 0.8, RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, (March-11-2014).
Ahmad A, Awaad I, Amigoni F, Berghofer J, Bischoff R, Bonarini A, Dwiputra R, Hegger F, Hochgeschwender N, Iocchi L, Kraetzschmar G, Lima PU, Matteucci M, Nardi D and Schneider S: D2.1.1 RoCKIn@Home - A Competition for Domestic Service Robots Competition Design, Rule Book, and Scenario Construction, FP7-ICT-601012 Revision 0.7, RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, (September-30-2013).
Ahmad A, Awaad I, Amigoni F, Berghofer J, Bischoff R, Bonarini A, Dwiputra R, Hegger F, Hochgeschwender N, Iocchi L, Kraetzschmar G, Lima PU, Matteucci M, Nardi D and Schneider S: D2.1.4 RoCKIn@Work - Innovation in Mobile Industrial Manipulation Competition Design, Rule Book, and Scenario Construction, FP7-ICT-601012 Revision 0.7, RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, (September-30-2013).
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 PU, Matteucci M, Nardi D, Schiaffonati V and Schneider S: D1.1 Specification of General Features of Scenarios and Robots for Benchmarking Through Competitions, FP7-ICT-601012 Revision 1.0, RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, (July-25-2013).
Messias J, Ahmad A, Reis J, Serafim M and Lima P: SocRob-MSL 2013 Team Description Paper for Middle Sized League, 17th Annual RoboCup International Symposium 2013, (July-2013).
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Messias J, Ahmad A, Reis J, Sousa J and Lima P: ISocRob-MSL 2011 Team Description Paper for Middle Sized League, 15th Annual RoboCup International Symposium 2011, (July-2011).
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Lima P, Santos J, Estilita J, Barbosa M, Ahmad A and Carreira J: ISocRob-MSL 2009 Team Description Paper for Middle Sized League, 13th Annual RoboCup International Symposium 2009, (July-2009).

Talks (3):

Ahmad A and Lima P (September-28-2015) Invited Lecture: Dataset Suite for Benchmarking Perception in Robotics, IROS 2015 Workshop: Open Forum on Evaluation of Results, Replication of Experiments and Benchmarking in Robotics Research, Hamburg, Germany.
Dwiputra R, Berghofer J, Amigoni F, Bischoff R, Bonarini A, Iocchi L, Kraetzschmar GK, Lima P, Matteucci M, Nardi D, Ahmad A, Awaad I, Fontana G, Hegger F, Hochgeschwender N, Schiaffonati V and Schneider S (June-2-2014) Abstract Talk: Overview on the RoCKIn@Work Challenge, 45th International Symposium on Robotics and the 8th German Conference on Robotics (ISR/ROBOTIK 2014), München, Germany.
Schneider S, Hegger F, Kraetzschmar GK, 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 and Schiaffonati V (June-2-2014) Abstract Talk: The RoCKIn@Home User Story, 45th International Symposium on Robotics and the 8th German Conference on Robotics (ISR/ROBOTIK 2014), München, Germany.

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Last updated: Monday, 22.05.2017