Publications

Safe Autonomous Driving

• 

  [TCST 2026] Safe Lane-Keeping With Control Barrier Functions: From Theory to Practical Implementation
  Illés Vörös, Chenhuan Jiang, Hanyu Gan, Dénes Takács, Xiao Li, Ilya Kolmanovsky, John Talbot, James Dallas, John Subosits, Gábor Orosz
  [project page · paper]
• 

  [preprint] Control Invariant Sets for Neural Network Dynamical Systems and Recursive Feasibility in Model Predictive Control
  Xiao Li, Tianhao Wei, Changliu Liu, Anouck Girard, Ilya Kolmanovsky
  [project page · arXiv]
• 

  [ACC 2025] Lane Keeping Using Lyapunov Function-Based Reference Governor: An Optimization-Free Approach
  Xiao Li, Ilya Kolmanovsky, Anouck Girard, Illés Vörös, Gábor Orosz, Makoto Suminaka, John Talbot, James Dallas, John Subosits
  [project page · paper]
• 

  [IV 2025] Lane-Keeping Guardian with Safety Filter: Experimental Validation
  Illés Vörös, Xiao Li, Ilya Kolmanovsky, John Talbot, James Dallas, Makoto Suminaka, John Subosits, Gábor Orosz
  [project page · paper]
• [L4DC 2024] System-level Safety Guard: Safe Tracking Control through Uncertain Neural Network Dynamics Models
  Xiao Li, Yutong Li, Anouck Girard, Ilya Kolmanovsky (Selected for Oral Presentation, 7.5%)
  [project page · paper · code · full report]

Interaction and Perception Uncertainty in Autonomous Driving

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  [CDC 2025] Safe Adaptive Cruise Control Under Perception Uncertainty: A Deep Ensemble and Conformal Tube Model Predictive Control Approach
  Xiao Li, Anouck Girard, Ilya Kolmanovsky
  [project page · paper]
• 

  [CDC 2024] Autonomous Driving With Perception Uncertainties: Deep-Ensemble Based Adaptive Cruise Control
  Xiao Li, H Eric Tseng, Anouck Girard, Ilya Kolmanovsky
  [project page · paper]
• 

  [TCST 2024] Decision-Making for Autonomous Vehicles with Interaction-Aware Behavioral Prediction and Social-Attention Neural Network
  Xiao Li, Kaiwen Liu, H Eric Tseng, Anouck Girard, Ilya Kolmanovsky
  [project page · paper]
• 

  [ACC 2024] Interaction-Aware Decision-Making for Autonomous Vehicles in Forced Merging Scenario Leveraging Social Psychology Factors
  Xiao Li, Kaiwen Liu, H Eric Tseng, Anouck Girard, Ilya Kolmanovsky
  [project page · paper · code]

Robot Localization

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  [ACA 2023] Set-theoretic Localization for Mobile Robots with Infrastructure-Based Sensing
  Xiao Li, Yutong Li, Nan Li, Anouck Girard, Ilya Kolmanovsky
  [project page · paper · code]
• 

  [preprint] Seannet: Semantic Understanding Network for Localization under Object Dynamics
  Xiao Li, Yidong Du, Zhen Zeng, Chad Jenkins
  [project page · code · arXiv]

Engine Modeling and Control

• [SAE WCX 2026] Adaptive Economic Model Predictive Control for Engine Emissions Management with Compensation for Performance Drift
  Jiadi Zhang, Xiao Li, Ilya Kolmanovsky, Munechika Tsutsumi, Hayato Nakada
  [paper]
• [SAE WCX 2026] Optimal Vehicle Sampling for Fleet-Wide Emissions Monitoring using Submodular Maximization
  Jiadi Zhang, Xiao Li, Ilya Kolmanovsky, Munechika Tsutsumi, Hayato Nakada
  [paper]
• [SAE 2025] Neural Network Based Modeling and Model Predictive Control for Reduction in Diesel Emissions
  Jiadi Zhang, Xiao Li, Ilya Kolmanovsky, Munechika Tsutsumi, Hayato Nakada
  [paper]
• [ACC 2024] Model Predictive Control of Diesel Engine Emissions Based on Neural Network Modeling
  Jiadi Zhang, Xiao Li, Ilya Kolmanovsky, Munechika Tsutsumi, Hayato Nakada
  [paper]
• [IFAC 2023] Modeling and Control of Diesel Engine Emissions using Multi-layer Neural Networks and Economic Model Predictive Control
  Jiadi Zhang, Xiao Li, Mohammad Reza Amini, Ilya Kolmanovsky, Munechika Tsutsumi
  [paper]