Hello, my name is Prem Nirmal. I am a Principal Software Engineer at Microsoft, where I work on the Outlook Mobile team.

While I was studying at Fordham University, I was an academic researcher for the Robotics and Computer Vision Lab where I wrote a novel visual homing algorithm for mobile robots. The algorithm was published in Cambridge University's Robotica journal. I also hold an Erdös number of 3.

I run a small business called Cypher Studios where I made a few popular apps for fun. If you invest in the stock market, check out Stocks Widget, it is rated the best stocks widget on android.


  • P. Nirmal, D. Lyons, "Homing with stereovision", Robotica, 2015 (Cambridge Univ. Press Journal, Official journal of the International Federation of Robotics, Impact Factor 0.894). [abstract]

  • P. Nirmal and D. M. Lyons, "Visual homing with a pan-tilt based stereo camera", SPIE Conference on Intelligent Robots and Computer Vision XXX: Algorithms and Techniques, San Francisco, CA, February 2013. [abstract]

  • D.M. Lyons, R.C. Arkin, P. Nirmal, S. Jiang, T-M Liu, "Performance Verification for Behavior-based Robot Missions", IEEE Transactions on Robotics, DOI: 10.1109/TRO.2015.2418592, V31 N3 2015. (Journal of the IEEE Robotics Society, Impact Factor 2.649). [abstract]

  • D.M. Lyons, R.C. Arkin, P. Nirmal, S. Jiang, T-M Liu, J. Deeb, "Getting it Right the First time: Robot Mission Guarantees in the Presence of Uncertainty" IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013, Tokyo, Japan, November 2013. [abstract]

  • D. Lyons, R. Arkin, T-L. Liu, S. Jiang, P. Nirmal, "Verifying Performance for Autonomous Robot Missions with Uncertainty", IFAC Intelligent Vehicle Symposium, Gold Coast Australia, June 26-28, 2013. [abstract]

  • D. Lyons, R. Arkin, S. Jiang, T-L. Liu, P. Nirmal, J.Deeb, "Performance Verification for behavior-based Robot Missions" AAMAS ARMS 2013 Workshop on Autonomous Robotics and Multirobot Systems, St. Paul MN, May 6-10 2013. [abstract]

  • D.M. Lyons, R.C. Arkin, S. Jiang, P. Nirmal, T-L. Liu, "A Software Tool for the Design of Critical Robot Missions with Performance Guarantees," Conf. on Systems Engineering Research (CSER’13), Atlanta, GA, March 19-22, 2013. [abstract]

  • Lyons, D., Arkin, R., Nirmal, P., and Jiang, S., "Designing Autonomous Robot Missions with Performance Guarantees", Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Algarve, PT, October 2012. [abstract]

  • D.M. Lyons, P. Nirmal, D.P. Benjamin, "Navigation of uncertain terrain by fusion of information from real and synthetic imagery." Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications at the SPIE Defense and Security Symposium, Baltimore MD, April 2012. [abstract]

  • Damian Lyons, Ron Arkin, Stephen Fox, Jiang Shu, Prem Nirmal and Munzir Zafir, "Characterizing Performance Guarantees for Multiagent, Real-Time Systems operating in Noisy and Uncertain Environments." Performance Metrics for Intelligent Systems (PERMIS’12) Workshop, March 20-22 2012 College Park, MD. [abstract]

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