Ahmad Kamal Nasir, PhD
Director engineering laboratory
Assistant professor of electrical engineering, school of science and engineering
lahore university of management sciences, pakistan
BOOKS CHAPTER
M. Ahsan Latif, Usman Akram, Ahmad Kamal Nasir. Understanding Color Images, In; Digital Image Processing. University of Agricultural Faisalabad Publisher, 2016. (In Publishing)
M. Jehanzeb M. Cheema, Hafiz S. Mahmood, M. Ahsan Latif, Ahmad Kamal Nasir. Precision Agriculture and ICT. University of Agricultural Faisalabad Publisher, 2016. (In Publishing)
PEER-REVIEWED CONFERENCE PUBLICATIONS
Ahmad Kamal Nasir, Mohbat Tharani, 2017. Use of GreenDrone UAS System for Maize Crop Monitoring. The International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences. International Conference on Unmanned Vehicles in Geomatics (UAV-G 2017) 04-07 September 2017, Bonn, Germany
Omair Hassaan, Ahmad Kamal Nasir, M. Fakhir Khan. Precision Forestry: Trees Counting in Urban Areas using an Unmanned Aerial Vehicle (UAV). 5th IFAC Conference on Sensing, Control and Automation for Agriculture, 14-17 August 2016 Washington, USA.
Ahmad Kamal Nasir, Hubert Roth. Pose Estimation by Multisensor Data Fusion of Wheel encoders, Gyroscope, Accelerometer and Electronic Compass. 1st IFAC Conference on Embedded Systems, Computational Intelligence and Telematics in Control, 2012 Wuerzburg, Germany. In this paper we describe a method for combining data from multiple onboard sensors to determine a mobile robot pose. An error model for a gyroscope, a dual-axial accelerometer and wheel encoders are derived for estimating the mobile robot's pose. A tri-axial magnetometer measures the magnetic field strength which is used as a criterion for acceptance of electronic compass readings to correct the azimuth of the mobile robot's orientation. The errors in each sensor are estimated mutually rather than independently considering each sensor error model. The final estimated pose is used to navigate, guide and control a mobile robot in an indoor environment. 
Ahmad Kamal Nasir, Aiman Hsino, Klaus Hartmann, Cheng Chen, Hubert Roth. Heterogeneous Capability Multi-Robots Cooperative Framework. 1st IFAC Conference on Embedded Systems, Computational Intelligence and Telematics in Control, 2012 Wuerzburg, Germany. This research paper presents the ongoing work for the development of a framework which is used to cooperatively build a map using an aerial and multiple ground robots with heterogeneous capability. The framework also supports multiple robots sensors data management, communication protocols and visual interface for map and sensors data. The paper also presents the hardware, firmware and software implementation results of the proposed multi-robot cooperative framework. 
Ahmad Kamal Nasir, Christof Hille, Hubert Roth. Data Fusion Of Stereo Vision And Gyroscope For Estimation Of Indoor Mobile Robot Orientation. 1st IFAC Conference on Embedded Systems, Computational Intelligence and Telematics in Control, 2012 Wuerzburg, Germany. In this paper a Kalman filter based data fusion method uses a novel combination of stereo vision and gyroscope angular velocity information. The proposed solution helps to eliminate the gyroscope unbounded drift errors. Since the gyroscope offers a higher bandwidth and availability of angular velocity it is corrected with the stereo vision system which has lower bandwidth and availability but bounded errors. A successful set of experiments were conducted to evaluate the integrated angle calculated from gyroscope and proposed sensor fusion method. 
Ahmad Kamal Nasir, Christof Hille, Hubert Roth. Plane Extraction and Map Building Using a Kinect Equipped Mobile Robot. Workshop on Robot Motion Planning: Online, Reactive, and in Real-time, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12 2012. This research work describes a method to create a geometric feature (3D plane) based map using a differential drive mobile robot in an indoor environment. Two algorithms namely Hough Transformation and Random Sample Consensus are used separately to extract multiple 3D planes from the point cloud data and the results are compared. An Octree based data structure is used to create and store the generated planner map of the environment. Furthermore a simple error analysis on the estimated parameters of the plane from both RANSAC and Hough Transformation algorithm in a test environment is presented. 
Cheng Chen, Wennan Chai, Ahmad Kamal Nasir, Hubert Roth. Low Cost IMU Based Indoor Mobile Robot Navigation with the Assist of Odometry and Wi-fi Using Dynamic Constraints. IEEE Position Location and Navigation Symposium, 2012, Myrtle Beach, South Carolina, USA. It is an important and fundamental ability for a mobile robot to know its position and attitude. This article introduces several approaches for solving an indoor mobile robot positioning problem based on recursive estimation algorithm. Sensor information from a low cost inertial measurement unit, wheel mounted encoders and Wi-Fi is fused to get current robot position. Since one cannot ignore the nature properties of robot dynamic constraints, the method purposed in this paper involves incorporation of those constraints. The final results are based on field experiment. 
Ahmad Kamal Nasir, Aiman Hsino, Hubert Roth, Klaus Hartmann. Aerial Robot Localization Using Ground Robot Tracking towards Cooperative SLAM. 19th IFAC Conference On Automatic Control in Aerospace, September 2-6 2013 Wuerzburg, Germany. Heterogeneous ground-aerial robots cooperation becomes an increasing research area for autonomous tasks. However, aerial robot is prone to a position drift over time, therefore, it is important to minimization it before achieving any farther tasks. In this paper, a vision-based position drift minimization method and cooperative navigation of quad-rotor in an air-ground multi-robot platform has been proposed. The quad-rotor is equipped with a monocular camera, IMUs and a flight computer, which enables autonomous flights. The downward looking camera minimizes the translational drift using the marker-based method. For translation navigation the aerial robot use the global position estimated bay the ground robot. 
Christof Hille, Ahmad Kamal Nasir, Hubert Roth. Development Of An Outdoor Mobile Robot For Teleoperation As An Agent For A Robot Network. 19th IFAC World Congress to be held in Cape Town, South Africa, 24-29 August 2014. In this paper the development of hard and software modules for a mobile robot used for outdoor telecontrol is presented. The mobile robot is supposed to work as an agent in a network of mobile robots and its design is mainly for exploration in rough outdoor terrain or damaged buildings. Although the mobile robot is designed for outdoor missions, its components are designed in a way that they can be reused on most other mobile robot configurations. They allow a fast development of new robot agents, e.g. for specific tasks, with a quick and easy integration into the robot network. An Android app is presented to offer easy remote control of the mobile robot for an operator. 

Ahmad Kamal Nasir, Christof Hille, Hubert Roth. A Navigation Application Using Inexpensive Android Based Devices for Humans and Mobile Robots. 19th IFAC World Congress to be held in Cape Town, South Africa, 24-29 August 2014.