Publications

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Peer Reviewed Full-Length Papers

Under Review

  • Syed Muhammad Abbas, Salman Aslam, Karsten Berns, Abubakr Muhammad, "Analysis and Improvements in AprilTag Based State Estimation."
  • Talha Manzoor, Elena Rovenskaya, Alexey Davydov, Abubakr Muhammad, "Learning through Fictitious Play in a Game-theoretic Model of Natural Resource Consumption."

2017

  • Zahoor Ahmad, Muhammad Adeel Pasha, Awais Ahmad, Abubakr Muhammad, Shahid Masud, Manuel Schappacher and Axel Sikora, "Performance Evaluation of IEEE 802.15.4-Compliant Smart Water Meters for Automating Large-Scale Waterways," 9th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems (IDAACS), Bucharest, Romania, 2017. Preprint
  • Abubakr Muhammad, Ali Ahmad, Saad Hassan, Syed M. Abbas, Talha Manzoor, Karsten Berns, "Using Unmanned Aerial Vehicles to Inspect Siltation in Irrigation Canals," 37th IAHR World Congress, Malaysia, 2017. Preprint
  • Talha Manzoor, Elena Rovenskaya, Abubakr Muhammad, "Structural Effects and Aggregation in a Social-Network Model of Natural Resource Consumption," 20th IFAC World Congress, Toulouse, France, 2017. Preprint

2016

  • Talha Manzoor, Elena Rovenskaya, Abubakr Muhammad, "Game-theoretic insights into the role of environmentalism and social-ecological relevance: A cognitive model of resource consumption," Ecological Modelling, Volume 340, 24 November 2016. Download
  • Muhammad Mudassir Khan, Haider Ali, Karsten Berns, Abubakr Muhammad, "Road Traversability Analysis Using Network Properties of Roadmaps." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea. 2016. Preprint
  • Abubakr Muhammad, "Managing River Basins With Thinking Machines", IEEE Conference on Norbert Wiener in the 21st Century, Melbourne, Australia, 2016. Preprint
  • Abubakr Muhammad, Bilal Haider, Zahoor Ahmad, "IoT Enabled Analysis of Irrigation Rosters in the Indus Basin Irrigation System." 12th International Conference on Hydroinformatics (HIC 2016), Incheon, South Korea, 2016. Download
  • Waqas Riaz, Zahoor Ahmad, Abubakr Muhammad, "A Smart Metering Approach Towards Measuring Flows in Small Irrigation Outlets." 12th International Conference on Hydroinformatics (HIC 2016), Incheon, South Korea, 2016. Download
  • Ammad Rehmat, Abubakr Muhammad, Naveed Hassan, "Comparative Model- and Data-Driven Frameworks for Risk Mitigation in Canal Networks." 12th International Conference on Hydroinformatics (HIC 2016), Incheon, South Korea, 2016. Download

2015

  • Hamza Anwar, Abubakr Muhammad, Karsten Berns, “A Theoretical Framework for Aerial Inspection of Siltation in Waterways.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany. 2015. Preprint
  • Talha Manzoor, Abubakr Muhammad, "An Extension of the Kalman Filter for a Class of Measurement Models Inspired by Wide-Baseline Stereo." European Control Conference (ECC), Linz, Austria, July 2015. Preprint
  • N.M. Phuong, M. Schappacher, A. Sikora, Zahoor Ahmad, Abubakr Muhammad, "Real-time Water Level Monitoring Using Low-Power Wireless Sensor Network", Embedded World Conference 2015, Nuremberg, 24.-26. Feb. 2015. Preprint

2014

  • Zahoor Ahmad and Abubakr Muhammad, "Low Power Hydrometry for Open Channel Flows", 40th Annual Conference of the IEEE Industrial Electronics Society (IECON), Dallas, USA, 2014. Preprint
  • Saad Aleem, Hasan Nasir, Abubakr Muhammad, "System Identification of Distributory Canals in the Indus Basin." 19th World Congress of the International Federation of Automatic Control (IFAC 2014), Cape Town, South Africa, 24-29 August 2014. Preprint
  • Talha Manzoor, Sergey Aseev, Elena Rovenskaya, Abubakr Muhammad, "Optimal Control for Sustainable Consumption of Natural Resources." 19th World Congress of the International Federation of Automatic Control (IFAC 2014), Cape Town, South Africa, 24-29 August 2014. Preprint
  • Karsten Berns, S. Atif Mehdi, Abubakr Muhammad (Eds.), Field and Assistive Robotics: Advances in Systems and Algorithms, Shaker Verlag, 2014. Link
  • Talha Manzoor and Abubakr Muhammad, "Investigating the Observability of Monocular SLAM: Obscured Beacons and Disparity Measurements" Field and Assistive Robotics: Advances in Systems and Algorithms, Shaker Verlag, 2014. Preprint
  • Abubakr Muhammad, Syed M. Abbas, Talha Manzoor, Adnan Munawar, Syed A. Abbas, Mhequb Hayat, Ali Abbas, Mian M. Awais, "Marwa: A Rough Terrain Landmine Detection Robot For Low Budgets". Field and Assistive Robotics: Advances in Systems and Algorithms, Shaker Verlag, 2014. Preprint
  • Hamza Anwar, Syed Muhammad Abbas, Abubakr Muhammad, Karsten Berns, "Volumetric Estimation of Contained Soil using 3D Sensors", 3rd International Commercial Vehicle Technology Symposium (CVT), Kaiserslautern, Germany, 2014. Preprint

2013

  • Talha Manzoor and Abubakr Muhammad, "Disparity as a Separate Measurement in Monocular SLAM", IEEE International Conference on Robotics and Biomimetics (Robio), Shenzhen, China, December 12 - 14, 2013. Preprint
  • Usama bin Sikandar and Abubakr Muhammad, Modeling and Simulation of Surface-and-dive Behavior of a Bottlenose Dolphin, IEEE International Conference on Robotics and Biomimetics (Robio), Shenzhen, China, December 12 - 14, 2013. Preprint
  • Syed Muhammad Abbas, Abubakr Muhammad, Syed Atif Mehdi and Karsten Berns, "Improvements in Accuracy of Single Camera Terrain Classification", 16th International Conference on Advanced Robotics (ICAR), Montevideo, Uruguay, November 25-29th, 2013. Preprint
  • Zahoor Ahmad, Ehsan U. Asad, Abubakr Muhammad, Waqas Ahmad and Arif Anwar, "Development of a Low-Power Smart Water Meter for Discharges in Indus Basin Irrigation Network", Wireless Sensor Networks for Developing Countries, Springer Communications in Computer and Information Science (CCIS), Volume 366, 2013, pp 1-13. Preprint
  • Talal Ahmed, Momin Uppal, and Abubakr Muhammad, "Improving Efficiency and Reliability of Gunshot Detection Systems", 38th IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Vancouver, Canada, May 26 - 31, 2013. Preprint
  • Zaeem Hussain and Abubakr Muhammad, "Sample size reduction in groundwater surveys via sparse data assimilation," IEEE International Conference on Networking, Sensing and Control (ICNSC), Paris-Evry University, France 2013. Preprint

2012

  • Hasan Nasir and Abubakr Muhammad, "Locating Leaks & Dumps in Open Channels with Minimal Sensing," IEEE Multi-Conference on Systems & Control (MSC), Dubrovnik, Croatia 2012. Preprint
  • Abubakr Muhammad and Mhequb Hayat, "Optimal Simplex Distribution in Homological Sensor Networks," Mathematical Theory of Networks and Systems (MTNS), Melbourne, Australia, 2012. Preprint
  • Talha Manzoor, Adnan Munawar and Abubakr Muhammad, “Visual Servoing for Landmine Detecting Robot Marwa”, 7th German Conference on Robotics (Robotik), Munich, Germany, 2012. Preprint
  • Syed M. Abbas and Abubakr Muhammad, “Outdoor RGB-D SLAM Performance in Slow Mine Detection”, 7th German Conference on Robotics (Robotik), Munich, Germany, 2012. Preprint
  • Muhammad Umer Tariq, Hasan Arshad Nasir, Abubakr Muhammad and Marilyn Wolf, “Model-Driven Performance Analysis of Large Scale Irrigation Networks,” IEEE/ACM International Conference on Cyber-Physical Systems (ICCPS), Beijing, China, 2012. Preprint

2011

  • Hasan Nasir and Abubakr Muhammad, "Feedback Control of Very-Large Scale Irrigation Networks: A CPS Approach in a Developing-World Setting." 18th World Congress of International Federation of Automatic Control (IFAC), Milano, Italy, 2011. Preprint
  • Mhequb Hayat and Abubakr Muhammad, “Spectral Properties of Expansive Configuration Spaces: An Empirical Study.” IEEE International Conference on Robotics and Automation (ICRA 2011), Shangai, China. May 9-13, 2011. Preprint
  • Ishtiaq Maqsood, Hasan Nasir and Abubakr Muhammad, “PID Controller Tuning for Network Delayed Motion Control.” IEEE International Conference on Communications, Computing and Control Applications (CCCA’11), Hammamet, Tunisia, March 3-5, 2011. Preprint

2010

  • Mhequb Hayat and Abubakr Muhammad, "Spectral Metrics for Expansive Configuration Spaces", The Ninth International Workshop on the Algorithmic Foundations of Robotics (WAFR), Singapore, 13-15 Dec 2010.
  • Abubakr Muhammad, “Distributed Electrical Power Distribution Using Evolutionary Variational Inequalities.” Mathematical Theory of Networks and Systems (MTNS), Budapest, Hungry, 2010.
  • Kamil Bradler, Nicolus Dutil, Patrick Hayden and Abubakr Muhammad, “Conjugate Degradability and the Quantum Capacity of Cloning Channels,” Journal of Mathematical Physics, Vol. 51, Issue 7, 2010. JMP arXiv
  • Hassan Mohy-ud-Din and Abubakr Muhammad, “Detecting Narrow Passages in Configuration Spaces Via Spectra of Probabilistic Roadmaps”, ACM Symposium on Applied Computing, Sierre, Switzerland, 2010. Preprint

Pre-cyphynets

  • Abubakr Muhammad, “Sensor Selection and Motion Planning in Robotic Sensor Networks Under Communication Constraints”, IEEE Control and Decision Conference (CDC), 2008. Preprint
  • Abubakr Muhammad and Ali Jadbabaie, “Decentralized Computation of Homology Groups in Networks by Gossip”, IEEE American Control Conference (ACC), 2007. Preprint
  • Abubakr Muhammad and Ali Jadbabaie, “Dynamic coverage verification in Mobile Sensor Networks Via Switched Higher Order Laplacians,” in Oliver Broch, (Editor), Robotics: Science and Systems, MIT Press, 2007. Preprint
  • Abubakr Muhammad and Ali Jadbabaie, “Asymptotic Stability of switched higher order Laplacians and dynamic coverage”, in Alberto Bemporad, Antonio Bicchi and Giorgio Buttazzo (Editors), Hybrid Systems: Computation and Control, Springer Lecture Notes in Compter Science (LNCS), 2007. SpringerLink Preprint
  • Abubakr Muhammad and Magnus Egerstedt, “Control Using Higher Order Laplacians in Network Topologies,” Mathematical Theory of Networks and Systems, Kyoto, Japan, 2006. Preprint
  • Abubakr Muhammad and Magnus Egerstedt, “Network Configuration Control Via Connectivity Graph Processes,” IEEE American Control Conference (ACC), Minneapolis, 2006. Preprint
  • Meng Ji, Abubakr Muhammad and Magnus Egerstedt, “Leader-Based Multi-Agent Coordination: Controllability and Optimal Control,” IEEE American Control Conference, Minneapolis, 2006. Preprint
  • Abubakr Muhammad, Meng Ji and Magnus Egerstedt, “Applications of Connectivity Graph Processes in Networked Sensing and Control,” Networked Embdedded Sensing and Control, Springer Lecture Notes in Control and Information Sciences (LNCIS), 2006. SpringerLink Preprint
  • Vin de Silva, Robert Ghrist and Abubakr Muhammad, “Blind Swarms for Coverage in 2-D,” in S. Thrun (Editor), Robotics: Science and Systems, MIT Press, 2005. Preprint
  • Abubakr Muhammad and Magnus Egerstedt, “Decentralized Coordination With Local Interactions: Some New Directions,” Cooperative Control, Springer Lecture Notes in Control and Information Sciences (LNCIS), Vol. 309, 2005. SpringerLink Preprint
  • Abubakr Muhammad and Magnus Egerstedt, “Connectivity Graphs as Models of Local Interactions,” Journal of Applied Mathematics and Computation, Vol. 168, Issue 1, September 2005, Pages 243–269. AMC Preprint
  • Abubakr Muhammad and Magnus Egerstedt., “Positivstellensatz Certificates For Feasibility Of Connectivity Graphs In Multi-Agent Formations,” 16th IFAC World Congress, Prague, July 4-8, 2005. Preprint
  • Robert Ghrist and Abubakr Muhammad, “Coverage And Hole-Detection In Sensor Networks Via Homology,” The Fourth International Conference on Information Processing in Sensor Networks (IPSN’05), UCLA, Los Angeles, CA, April 25-27, 2005. Preprint
  • Abubakr Muhammad and Magnus Egerstedt, “Connectivity Graphs as Models of Local Interactions,” IEEE Conference on Decision and Control, Bahamas, December 2004. Preprint
  • Abubakr Muhammad and Magnus Egerstedt, “On The Structural Complexity Of Multi-Agent Robot Formations,” IEEE American Control Conference, Boston, Massachusetts, USA, July 2004. Preprint
  • Abubakr Muhammad and Magnus Egerstedt, “Topology And Complexity Of Formations,” in Proceedings of 2nd International Workshop on the Mathematics and Algorithms of Social Insects, Atlanta, Georgia, USA, December 15-17, 2003. Preprint
  • Henrik Axelsson, Abubakr Muhammad, and Magnus Egerstedt, “Autonomous Formation Switching For Multiple, Mobile Robots,” in Proceedings of IFAC Conference on Analysis and Design of Hybrid Systems, Sant-Malo, Brittany, France, June 2003. Preprint
  • Magnus Egerstedt, Abubakr Muhammad, and X. Hu, “Formation Control Under Limited Sensory Range Constraints,” in Proceeding of 10th IEEE Mediterranean Conference on Control and Automation, Lisbon, Portugal, July 2002. Preprint
  • Abubakr Muhammad, Biological Receptive Fields for Motion Detection, FAST-IEEE Student Conference on CS and IT, FISC’ 98, Lahore, Pakistan, 1998.

Presentations

  • Smart Water Grids for the Indus Basin, Smart Cities Workshop, Hiroshima, 2016. Slides
  • Compressive Sensing Approaches to Geophysical Inverse Problems, CIMPA-KAUST Workshop on UQ, Jan 2012. Slides
  • Winning the NI landmine detection competition: Lessons in sensors, systems and algorithms, Workshop on Field Robotics, Oct 2011. Slides
  • Feedback in the Quantum World: A Control Engineer’s View of the Quantum Information Processing, National Symposium on Quantum Information Processing, April 2011. Slides
  • Exactly Computing the Quantum Capacity of a Quantum Channel, International Scientific Spring (ISS), March 2010. Slides
  • When do Robots Become Hyper(bolic)?, SSE Seminar Series, Feb 2009. Slides
  • Can You Hear the Shape of a Network?, Stanford University, Aug 2008. Slides
  • Sensor Networks Meet Algebraic Topology, 2006. Slides

Theses

  • Talha Manzoor, Observability and Disparity in Monocular SLAM: A Study, M.S. Thesis, LUMS, 2013. Preprint
  • Syed Muhammad Abbas, Outdoor RGB-D SLAM Performance in Slow Mine Detection, M.S. Thesis, LUMS, 2013. Preprint
  • Hasan Arshad Nasir, Feedback Control of Open Channel Flows: A CPS approach towards managing large Irrigation Networks, M.S. Thesis, LUMS, 2011. Preprint
  • Mhequb Hayat, Spectral Properties of Expansive Configuration Spaces, M.S. Thesis, LUMS, 2011. Preprint
  • Abubakr Muhammad, Graphs, Simplicial Complexes and Beyond: Topological Tools for Multiagent Coordination, PhD Thesis, Georgia Tech.

Technical Reports / Surveys

  • Abubakr Muhammad, ``Sub-Riemannian Geometry: Basic Ideas and Examples." 2005. PDF
  • Abubakr Muhammad, ``Homology Groups in Algebraic Topology." 2005. PDF
  • Abubakr Muhammad, ``Nonlinear Dynamics and Control of Mechanical Systems with Constraints and Symmetries: A Lagrangian Perspective. " 2002. PDF
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