publications

2025

1. SenSys

   Been There, Scanned That: Nostalgia-driven LiDAR Compression for Self-Driving Cars

   Ali Khalid, Jaiaid Mobin, Sumanth Rao Appala, Avinash Maurya, Stephany Berrio Perez, M. Mustafa Rafique, and Fawad Ahmad

   In The ACM/IEEE International Conference on Embedded Artificial Intelligence and Sensing Systems (ACM/IEEE SenSys 2026)

   Bib

   @inproceedings{dejaview,
     author = {Khalid, Ali and Mobin, Jaiaid and Appala, Sumanth Rao and Maurya, Avinash and Perez, Stephany Berrio and Rafique, M. Mustafa and Ahmad, Fawad},
     title = {Been There, Scanned That: Nostalgia-driven LiDAR Compression for Self-Driving Cars},
     booktitle = {The ACM/IEEE International Conference on Embedded Artificial Intelligence and Sensing Systems (ACM/IEEE SenSys 2026)},
     year = {2025},
   }

2. SenSys

   ARC: Accurate, Real-time, and Scalable Multi-vehicle Cooperative Perception

   Kaleem Nawaz Khan, and Fawad Ahmad

   In The ACM/IEEE International Conference on Embedded Artificial Intelligence and Sensing Systems (ACM/IEEE SenSys 2026)

   Bib

   @inproceedings{arc,
     author = {Khan, Kaleem Nawaz and Ahmad, Fawad},
     title = {ARC: Accurate, Real-time, and Scalable Multi-vehicle Cooperative Perception},
     booktitle = {The ACM/IEEE International Conference on Embedded Artificial Intelligence and Sensing Systems (ACM/IEEE SenSys 2026)},
     year = {2025},
     publisher = {ACM/IEEE},
   }

3. SEC

   Warping the Edge: Where Instant Mobility in 5G Meets Stateful Applications

   Mukhtiar Ahmad, Faaiq Bilal, Mutahar Ali, Muhammad Ali Nawazish, Amir Salman, Shazer Ali,  Fawad Ahmad, and Zafar Ayyub Qazi

   In The Tenth ACM/IEEE Symposium on Edge Computing (ACM/IEEE SEC 2025)

   Bib PDF

   @inproceedings{edgecat,
     title = {Warping the Edge: Where Instant Mobility in 5G Meets Stateful Applications},
     author = {Ahmad, Mukhtiar and Bilal, Faaiq and Ali, Mutahar and Nawazish, Muhammad Ali and Salman, Amir and Ali, Shazer and Ahmad, Fawad and Qazi, Zafar Ayyub},
     booktitle = {The Tenth ACM/IEEE Symposium on Edge Computing (ACM/IEEE SEC 2025)},
     year = {2025},
     eprint = {2412.10927},
     archiveprefix = {SEC},
     primaryclass = {cs.NI},
   }

4. ITSC

   ParkAssist: Towards Automated, Real-time Parking Analytics

   Vijay Bajracharya, Junaid Ahmad, and Fawad Ahmad

   In The IEEE Conference on Intelligent Transportation Systems (IEEE ITSC 2025)

   Bib

   @inproceedings{parkassist,
     author = {Bajracharya, Vijay and Ahmad, Junaid and Ahmad, Fawad},
     title = {ParkAssist: Towards Automated, Real-time Parking Analytics},
     booktitle = {The IEEE Conference on Intelligent Transportation Systems (IEEE ITSC 2025)},
     year = {2025},
     publisher = {IEEE},
   }

5. TVT

   A Framework for Cooperative Autonomy Trust & Security

   Namo Asavisanu, Tina Khezresmaeilzadeh, Rohan Sequeira, Hang Qiu,  Fawad Ahmad, Konstantinos Psounis, and Ramesh Govindan

   Bib PDF

   @misc{cats,
     title = {A Framework for Cooperative Autonomy Trust & Security},
     author = {Asavisanu, Namo and Khezresmaeilzadeh, Tina and Sequeira, Rohan and Qiu, Hang and Ahmad, Fawad and Psounis, Konstantinos and Govindan, Ramesh},
     booktitle = {IEEE Transactions on Vehicular Technology},
     year = {2025},
     publisher = {IEEE},
   }

2024

1. MobiCom

   RECAP: 3D Traffic Reconstruction

   Christina Suyong Shin, Weiwu Pang, Chuan Li, Fan Bai,  Fawad Ahmad, Jeongyeup Paek, and Ramesh Govindan

   In 30th Annual International Conference on Mobile Computing and Network (ACM MobiCom 2024)

   Bib PDF

   @inproceedings{recap,
     doi = {},
     author = {Shin, Christina Suyong and Pang, Weiwu and Li, Chuan and Bai, Fan and Ahmad, Fawad and Paek, Jeongyeup and Govindan, Ramesh},
     title = {RECAP: 3D Traffic Reconstruction},
     booktitle = {30th Annual International Conference on Mobile Computing and Network (ACM MobiCom 2024)},
     year = {2024},
     publisher = {ACM New York, NY, USA},
   }

2. MobiSys

   VRF: Vehicle Road-side Point Cloud Fusion

   Kaleem Nawaz Khan, Ali Khalid, Yash Turkar, Karthik Dantu, and Fawad Ahmad

   In 22nd Annual International Conference on Mobile Systems, Applications, and Services (ACM MobiSys 24)

   Bib PDF Code Demo

   @inproceedings{vrf,
     doi = {10.1145/3643832.3661874},
     author = {Khan, Kaleem Nawaz and Khalid, Ali and Turkar, Yash and Dantu, Karthik and Ahmad, Fawad},
     title = {VRF: Vehicle Road-side Point Cloud Fusion},
     booktitle = {22nd Annual International Conference on Mobile Systems, Applications, and Services (ACM MobiSys 24)},
     year = {2024},
     publisher = {ACM New York, NY, USA},
     demo = {https://youtu.be/QhfRFthtB_4?si=aRwFKOxUYriHtFjb},
   }

3. IoTDI

   CIP: Cooperative Infrastructure Perception

   Fawad Ahmad, Christina Suyong Shin, Weiwu Pang, Branden Leong, Pradipta Ghosh, and Ramesh Govindan

   In 9th ACM/IEEE Conference on Internet of Things Design and Implementation (ACM/IEEE IoTDI 24)

   Bib PDF Demo

   @inproceedings{cip,
     author = {Ahmad, Fawad and Shin, Christina Suyong and Pang, Weiwu and Leong, Branden and Ghosh, Pradipta and Govindan, Ramesh},
     title = {CIP: Cooperative Infrastructure Perception},
     booktitle = {9th ACM/IEEE Conference on Internet of Things Design and Implementation (ACM/IEEE IoTDI 24)},
     year = {2024},
     publisher = {IEEE},
     demo = {https://www.youtube.com/@cip-iotdi24},
   }

2023

1. UbiComp

   AeroTraj: Trajectory Planning for Fast, and Accurate 3D Reconstruction Using a Drone-based LiDAR

   Fawad Ahmad, Christina Shin, John D’Ambrosio, Eugene Chai, Karthik Sundaresan, and Ramesh Govindan

   In Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies (IMWUT/UbiComp 2023)

   Bib PDF Slides Talk

   @inproceedings{aerotraj,
     doi = {10.1145/3610911},
     author = {Ahmad, Fawad and Shin, Christina and D'Ambrosio, John and Chai, Eugene and Sundaresan, Karthik and Govindan, Ramesh},
     title = {AeroTraj: Trajectory Planning for Fast, and Accurate 3D Reconstruction Using a Drone-based LiDAR},
     booktitle = {Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies (IMWUT/UbiComp 2023)},
     volume = {7},
     number = {3},
     pages = {1--27},
     year = {2023},
     publisher = {ACM New York, NY, USA},
     talk = {https://shorturl.at/dwxFX},
   }

2. MobiCom

   UbiPose: Towards Ubiquitous Outdoor AR Pose Tracking Using Aerial Meshes

   Weiwu Pang, Chunyu Xia, Branden Leong,  Fawad Ahmad, Jeongyeup Paek, and Ramesh Govindan

   In 29th Annual International Conference on Mobile Computing and Networking (ACM MobiCom 23)

   Bib PDF Talk

   @inproceedings{ubipose,
     doi = {10.1145/3570361.3613263},
     author = {Pang, Weiwu and Xia, Chunyu and Leong, Branden and Ahmad, Fawad and Paek, Jeongyeup and Govindan, Ramesh},
     title = {UbiPose: Towards Ubiquitous Outdoor AR Pose Tracking Using Aerial Meshes},
     booktitle = {29th Annual International Conference on Mobile Computing and Networking (ACM MobiCom 23)},
     year = {2023},
     publisher = {ACM New York, NY, USA},
     talk = {https://www.youtube.com/watch?v=IGSaVB4wNCs},
   }

2022

1. Patent

   Method and apparatus for a context-aware crowd-sourced sparse high definition map

   Fawad Ahmad, Hang Qiu, Ramesh Govindan, Donald K Grimm, and Fan Bai

   Apr

   PDF

2021

2020

1. Patent

   Crowd-sensed point cloud map

   Fawad Ahmad, Hang Qiu, Fan Bai, and Ramesh Govindan

   Jan

   PDF
2. NSDI

   CarMap: Fast 3D Feature Map Updates for Automobiles

   Fawad Ahmad, Hang Qiu, Ray Eells, Fan Bai, and Ramesh Govindan

   In 17th USENIX Symposium on Networked Systems Design and Implementation (NSDI 20) Jan

   Bib PDF Code Slides Demo Talk

   @inproceedings{ahmad2020carmap,
     title = {CarMap: Fast 3D Feature Map Updates for Automobiles},
     author = {Ahmad, Fawad and Qiu, Hang and Eells, Ray and Bai, Fan and Govindan, Ramesh},
     booktitle = {17th USENIX Symposium on Networked Systems Design and Implementation (NSDI 20)},
     pages = {1063--1081},
     year = {2020},
     demo = {https://youtu.be/SlG4QGq5ypk},
     talk = {https://youtu.be/4JBIeb46T7g},
   }

2019

1. GetMobile

   Augmented vehicular reality: Enabling extended vision for future automobiles

   Hang Qiu,  Fawad Ahmad, Fan Bai, Marco Gruteser, and Ramesh Govindan

   GetMobile: Mobile Computing and Communications Jan

   Bib PDF

   @article{qiu2019augmented,
     title = {Augmented vehicular reality: Enabling extended vision for future automobiles},
     author = {Qiu, Hang and Ahmad, Fawad and Bai, Fan and Gruteser, Marco and Govindan, Ramesh},
     journal = {GetMobile: Mobile Computing and Communications},
     volume = {22},
     number = {4},
     pages = {30--34},
     year = {2019},
     publisher = {ACM New York, NY, USA},
   }

2018

1. MobiSys

   AVR: Augmented Vehicular Reality

   Hang Qiu,  Fawad Ahmad, Fan Bai, Marco Gruteser, and Ramesh Govindan

   In Proceedings of the 16th Annual International Conference on Mobile Systems, Applications, and Services Jan

   Bib PDF Code Demo Talk

   @inproceedings{qiu2018avr,
     title = {AVR: Augmented Vehicular Reality},
     author = {Qiu, Hang and Ahmad, Fawad and Bai, Fan and Gruteser, Marco and Govindan, Ramesh},
     booktitle = {Proceedings of the 16th Annual International Conference on Mobile Systems, Applications, and Services},
     pages = {81--95},
     year = {2018},
     demo = {https://youtu.be/9rOtH3hDcw8},
     talk = {https://youtu.be/QWrEl1-m0ho},
   }

2. Fusion

   Quicksketch: Building 3d representations in unknown environments using crowdsourcing

   Fawad Ahmad, Hang Qiu, Xiaochen Liu, Fan Bai, and Ramesh Govindan

   In 2018 21st International Conference on Information Fusion (Fusion) Jan

   Bib PDF Slides

   @inproceedings{ahmad2018quicksketch,
     title = {Quicksketch: Building 3d representations in unknown environments using crowdsourcing},
     author = {Ahmad, Fawad and Qiu, Hang and Liu, Xiaochen and Bai, Fan and Govindan, Ramesh},
     booktitle = {2018 21st International Conference on Information Fusion (Fusion)},
     pages = {2314--2321},
     year = {2018},
     organization = {IEEE},
   }

2017

1. HotMobile

   Augmented vehicular reality: Enabling extended vision for future vehicles

   Hang Qiu,  Fawad Ahmad, Ramesh Govindan, Marco Gruteser, Fan Bai, and Gorkem Kar

   In Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications Jan

   Bib PDF

   @inproceedings{qiu2017augmented,
     title = {Augmented vehicular reality: Enabling extended vision for future vehicles},
     author = {Qiu, Hang and Ahmad, Fawad and Govindan, Ramesh and Gruteser, Marco and Bai, Fan and Kar, Gorkem},
     booktitle = {Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications},
     pages = {67--72},
     year = {2017},
   }

2016

1. IEEE-T SMC-S

   Shortest processing time scheduling to reduce traffic congestion in dense urban areas

   Fawad Ahmad, Sahibzada Ali Mahmud, and Faqir Zarrar Yousaf

   IEEE Transactions on Systems, Man, and Cybernetics: Systems Jan

   Bib PDF

   @article{ahmad2016shortest,
     title = {Shortest processing time scheduling to reduce traffic congestion in dense urban areas},
     author = {Ahmad, Fawad and Mahmud, Sahibzada Ali and Yousaf, Faqir Zarrar},
     journal = {IEEE Transactions on Systems, Man, and Cybernetics: Systems},
     volume = {47},
     number = {5},
     pages = {838--855},
     year = {2016},
     publisher = {IEEE},
   }

2015

1. SenSys

   Poster: Accurate Vehicle Detection in Intelligent Transportation Systems (ITS) using Wireless Magnetic Sensors

   Fawad Ahmad, and Sahibzada Ali Mahmud

   In Proceedings of the 13th ACM Conference on Embedded Networked Sensor Systems Jan

   Bib PDF

     title = {Poster: Accurate Vehicle Detection in Intelligent Transportation Systems (ITS) using Wireless Magnetic Sensors},
     author = {Ahmad, Fawad and Mahmud, Sahibzada Ali},
     booktitle = {Proceedings of the 13th ACM Conference on Embedded Networked Sensor Systems},
     pages = {385--386},
     year = {2015},
   }

2013

1. ICCVE

   Implementation of shortest remaining processing time based schedulers on a 32 bit serial based processing platform

   Fawad Ahmad, Muhammad Ali, Sahibzada Ali Mahmud, Gul M Khan, and Faqir Zarrar Yousaf

   In 2013 International Conference on Connected Vehicles and Expo (ICCVE) Jan

   Bib PDF

   @inproceedings{ahmad2013implementation,
     title = {Implementation of shortest remaining processing time based schedulers on a 32 bit serial based processing platform},
     author = {Ahmad, Fawad and Ali, Muhammad and Mahmud, Sahibzada Ali and Khan, Gul M and Yousaf, Faqir Zarrar},
     booktitle = {2013 International Conference on Connected Vehicles and Expo (ICCVE)},
     pages = {257--263},
     year = {2013},
     organization = {IEEE},
   }

2. ICCVE

   Feasibility of deploying wireless sensor based road side solutions for intelligent transportation systems

   Fawad Ahmad, Abdul Basit, Hussain Ahmad, Sahibzada Ali Mahmud, Gul M Khan, and Faqir Zarrar Yousaf

   In 2013 International Conference on Connected Vehicles and Expo (ICCVE) Jan

   Bib PDF

   @inproceedings{ahmad2013feasibility,
     title = {Feasibility of deploying wireless sensor based road side solutions for intelligent transportation systems},
     author = {Ahmad, Fawad and Basit, Abdul and Ahmad, Hussain and Mahmud, Sahibzada Ali and Khan, Gul M and Yousaf, Faqir Zarrar},
     booktitle = {2013 International Conference on Connected Vehicles and Expo (ICCVE)},
     pages = {320--326},
     year = {2013},
     organization = {IEEE},
   }

3. ICCVE

   Real time evaluation of shortest remaining processing time based schedulers for traffic congestion control using wireless sensor networks

   Fawad Ahmad, Irfan Khan, Sahibzada Ali Mahmud, Gul M Khan, and Faqir Zarrar Yousaf

   In 2013 International Conference on Connected Vehicles and Expo (ICCVE) Jan

   Bib PDF

   @inproceedings{ahmad2013real,
     title = {Real time evaluation of shortest remaining processing time based schedulers for traffic congestion control using wireless sensor networks},
     author = {Ahmad, Fawad and Khan, Irfan and Mahmud, Sahibzada Ali and Khan, Gul M and Yousaf, Faqir Zarrar},
     booktitle = {2013 International Conference on Connected Vehicles and Expo (ICCVE)},
     pages = {381--387},
     year = {2013},
     organization = {IEEE},
   }

4. ICCVE

   Shortest remaining processing time based schedulers for reduction of traffic congestion

   Fawad Ahmad, Sahibzada Ali Mahmud, Gul M Khan, and Faqir Zarrar Yousaf

   In 2013 International Conference on Connected Vehicles and Expo (ICCVE) Jan

   Bib PDF

   @inproceedings{ahmad2013shortest,
     title = {Shortest remaining processing time based schedulers for reduction of traffic congestion},
     author = {Ahmad, Fawad and Mahmud, Sahibzada Ali and Khan, Gul M and Yousaf, Faqir Zarrar},
     booktitle = {2013 International Conference on Connected Vehicles and Expo (ICCVE)},
     pages = {271--276},
     year = {2013},
     organization = {IEEE},
   }