Research

Publications

Here you can see all our publications, no matter which research area they belong to.
All publications (69) 2026 (9) 2025 (20) 2024 (9) 2023 (12) 2022 (5) 2021 (9) 2020 (3) 2019 (2)
Analyzing the Sensitivity of a Scenario Selection Process for Simulation-Based Safety Testing

Fauzia Khan, Hina Anwar, Dietmar Pfahl

• Journal of Software: Evolution and Process

, 2026

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ITS4SDC: Intelligent test road selector for self-driving cars

Ali Ihsan Güllü, Faiz Ali Shah, Dietmar Pfahl

• Science of Computer Programming

, 2026

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External Human-Vehicle Interaction: A User Study in the Context of a Driverless Ride-Hailing Service

Kristina Meister, Andres Kuusik, Alexander Nolte, Karl Kruusamäe

• Transportation Research Record: Journal of the Transportation Research Board

, 2026

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Calibrating Perception Uncertainty for Autonomous Driving

Markus Kängsepp, Meelis Kull

• International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems

, 2026

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Phase-Based Safety Analysis of Automated Driving System Using Simulations

Fauzia Khan, Ali Ihsan Güllü, Hina Anwar, Dietmar Pfahl

• Baltic DB&IS

, 2026

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ITEP4SDC at the SBFT 2026 Tool Competition: Self-Driving Car Testing Track

Ali Ihsan Güllü, Faiz Ali Shah, Dietmar Pfahl

• SBFT

, 2026

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SafeBound: A Modular Toolchain for End-to-End Safety Evaluation of ADS

Fauzia Khan, Ali Ihsan Güllü, Hina Anwar, Dietmar Pfahl

• ICSTW

, 2026

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In the Driver's Seat: A Multi-Company Study on the Reality of Autonomous Driving System Testing

Qunying Song, Yuan Gao, Johannes Betz, Dietmar Pfahl, Mohammad Reza Mousavi, Federica Sarro

• arXiv

, 2026

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Beyond Dark Knowledge: Mixup-Based Distillation for Reliable Predictions

José Medina, Paul Honeine, Abdelaziz Bensrhair, Amnir Hadachi

• arXiv

, 2026

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An LSTM-based Test Selection Method for Self-Driving Cars

Ali Güllü, Faiz Ali Shah, Dietmar Pfahl

• arXiv

, 2025

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ITS4SDC at the ICST 2025 Tool Competition - Self-Driving Car Testing Track

Ali Güllü, Faiz Ali Shah, Dietmar Pfahl

• ICST (Best Paper Award - Tool Competition Self-Driving Car Testing Track)

, 2025

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A Robust LSTM-Based Test Selection Method for Self-Driving Cars

Ali Ihsan Güllü, Faiz Ali Shah, Dietmar Pfahl

• PROFES

, 2025

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From Scenario Selection to Simulation: Safety Testing of an Automated Driving System

Fauzia Khan, Ali Ihsan Güllü, Hina Anwar, Dietmar Pfahl

• PROFES

, 2025

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Automated Classification of ADS Disengagements Using Convolutional Neural Networks

Elisabet Hein, Ali Ihsan Güllü, Faiz Ali Shah, Dietmar Pfahl

• PROFES

, 2025

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Trajectory Optimization Under Stochastic Dynamics Leveraging Maximum Mean Discrepancy

Basant Sharma, Arun Kumar Singh

• IEEE Robotics and Automation Letters

, 2025

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MMD-OPT: Maximum Mean Discrepancy-Based Sample Efficient Collision Risk Minimization for Autonomous Driving

Basant Sharma, Arun Kumar Singh

• IEEE Transactions on Automation Science and Engineering

, 2025

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MonoMPC: Monocular Vision Based Navigation with Learned Collision Model and Risk-Aware Model Predictive Control

Basant Sharma, Prajyot Jadhav, Pranjal Paul, K. Madhava Krishna, Arun Kumar Singh

• IEEE Robotics and Automation Letters

, 2025

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Implementing Reinforcement Learning on a Smartphone: A Study with OpenBot

Lilou Gras, Naveed Muhammad

• AI2E 2025

, 2025

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On the Suitability of Small-Sized Vehicles for Autonomous-Driving Research

Uroš Petrović, Naveed Muhammad

• AI2E 2025

, 2025

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Automatic Road Boundaries Extraction for High Definition Maps

Dmytro Zabolotnii, Dmytro Fishman, Naveed Muhammad

• AI2E 2025

, 2025

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On Security Risk Management for Teleoperated Driving Systems

Abasi-Amefon O. Affia-Jomants, Raimundas Matulevičius, Nataliia Pabat, Lukas Malina

• IEEE Access

, 2025

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MAPFL: GNSS-Free Map-Based Particle Filter Localization for Autonomous Vehicles

Syeda Zillay Nain Zukhraf, Naveed Muhammad

• ICAT 2025

, 2025

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FOV-RVO: Velocity Obstacle-Based Pedestrian Motion Predictor

Dmytro Zabolotnii, Yar Muhammad, Naveed Muhammad

• ROBIO 2025

, 2025

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Pedestrian Motion Prediction Evaluation for Urban Autonomous Driving

Dmytro Zabolotnii, Yar Muhammad, Naveed Muhammad

• ROBIO 2025

, 2025

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Diffusion-FS: Multimodal Free-Space Prediction via Diffusion for Autonomous Driving

Keshav Gupta, Tejas S. Stanley, Pranjal Paul, Arun Kumar Singh, K. Madhava Krishna

• IROS 2025

, 2025

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GC-GAT: Multimodal Vehicular Trajectory Prediction Using Graph Goal Conditioning and Cross-Context Attention

Mahir Gulzar, Yar Muhammad, Naveed Muhammad

• IEEE Robotics and Automation Letters

, 2025

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Mamba-PKD: A Framework for Efficient and Scalable Model Compression in Image Classification

José Medina, Amnir Hadachi, Paul Honeine, Abdelaziz Bensrhair

• ACM/SIGAPP SAC 2025

, 2025

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Street2GIS: Multimodal Generative Framework for Pedestrian Infrastructure Mapping

Alireza Akhavi Zadegan, José Medina, Amnir Hadachi

• JURSE 2025

, 2025

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Semi-Dense Feature Matching via Mamba-Based Knowledge Distillation

José Medina, Helena Sokk, Amnir Hadachi

• ICMLA 2025

, 2025

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Navigating roundabouts and unprotected turns in autonomous driving

Mahir Gulzar, Yar Muhammad, Naveed Muhammad

• IEEE Transactions on Field Robotics

, 2024

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The Effects of Speed and Delays on Test-Time Performance of End-to-End Self-Driving

Ardi Tampuu, Kristjan Roosild, Ilmar Uduste

• MDPI Sensors

, 2024

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Pedestrian Collision Avoidance in Autonomous Vehicles: A Review

Timothé Verstraete, Naveed Muhammad

• MDPI Computers

, 2024

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Comparing Approaches for Prioritizing and Selecting Scenarios in Simulation-based Safety Testing of Automated Driving Systems

Fauzia Khan, Hina Anwar, Dietmar Pfahl

• WiPiEC Journal

, 2024

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Learning Sampling Distribution and Safety Filter for Autonomous Driving with VQ-VAE and Differentiable Optimization

Simon Idoko, Basant Sharma, Arun Kumar Singh

• IROS

, 2024

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Talk2BEV: Language-enhanced Bird's-eye View Maps for Autonomous Driving

T. Choudhary, V. Dewangan, S. Chandhok, S. Priyadarshan, A. Jain, A. K. Singh, S. Srivastava, K. M. Jatavallabhula, K. M. Krishna

• ICRA 2024

, 2024

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LeGo-Drive: Language-enhanced Goal-oriented Closed-Loop End-to-End Autonomous Driving

Pranjal Paul, Anant Garg, Tushar Choudhary, Arun Kumar Singh, K. Madhava Krishna

• IROS 2024

, 2024

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Scenario Driven Development for Open Source Autonomous Driving Stack

Mahir Gulzar, Tambet Matiisen, Naveed Muhammad

• ETFA 2024

, 2024

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Knowledge Distillation Neural Network for Predicting Car-Following Behaviour of Human-Driven and Autonomous Vehicles

Ayobami Adewale, Chris Lee, Amnir Hadachi, Nicolly Lima da Silva

• ITSC 2024

, 2024

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LiDAR-as-Camera for End-to-End Driving

Ardi Tampuu, Romet Aidla, Jan Are van Gent, Tambet Matiisen

• MDPI Sensors

, 2023

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Bi-Level Optimization Augmented with Conditional Variational Autoencoder for Autonomous Driving in Dense Traffic

Arun Kumar Singh, Jatan Shrestha, Nicola Albarella

• IEEE CASE

, 2023

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UAP-BEV: Uncertainty Aware Planning Using Bird's Eye View Generated from Surround Monocular Images

Vikrant Dewangan, Basant Sharma, Tushar Choudhary, Sarthak Sharma, Aakash Aanegola, Arun K. Singh, K. Madhava Krishna

• IEEE CASE 2023

, 2023

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How Can Simulation-based Safety Testing Help Understand the Real-World Safety of Autonomous Driving Systems?

Fauzia Khan, Laima Dalbina, Hina Anwar, Dietmar Pfahl

• WiPiEC Journal

, 2023

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Object Detection in Adverse Weather for Autonomous Driving through Data Merging and YOLOv8

Debasis Kumar, Naveed Muhammad

• MDPI Sensors

, 2023

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A Survey on Localization for Autonomous Vehicles

Debasis Kumar, Naveed Muhammad

• IEEE Access

, 2023

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Safety Testing of Automated Driving Systems: A Literature Review

Fauzia Khan, Mariana Falco, Hina Anwar, Dietmar Pfahl

• IEEE Access

, 2023

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A Process for Scenario Prioritization and Selection in Simulation-Based Safety Testing of Automated Driving Systems

Fauzia Khan, Hina Anwar, Dietmar Pfahl

• PROFES

, 2023

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Emotions in requirements engineering: A systematic mapping study

Iqbal, T., Anwar, H., Filzah, S., Gharib, M., Mooses, K., Taveter, K.

• IEEE

, 2023

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Emotions, Readiness for Act, and Safe/Unsafe Acts in Safety Critical Systems: A Position Paper

Gharib, M.

• IEEE

, 2023

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End-to-End Learning of Behavioural Inputs for Autonomous Driving in Dense Traffic

Jatan Shrestha, Simon Idoko, Basant Sharma, Arun Kumar Singh

• IROS 2023

, 2023

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Hilbert Space Embedding-Based Trajectory Optimization for Multi-Modal Uncertain Obstacle Trajectory Prediction

Basant Sharma, Aditya Sharma, K. Madhava Krishna, Arun Kumar Singh

• IROS 2023

, 2023

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Leading Vehicle Length Estimation Using Pressure Data for Use in Autonomous Driving

Matis Ottan, Naveed Muhammad

• ETFA 2022

, 2022

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Calibrated Perception Uncertainty Across Objects and Regions in Bird's-Eye-View

Markus Kängsepp, Meelis Kull

• NeurIPS ML4AD workshop

, 2022

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Controlling Steering with Energy-Based Models

Mykyta Baliesnyi, Ardi Tampuu, Tambet Matiisen

• NeurIPS ML4AD workshop

, 2022

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Drift Reduced Navigation with Deep Explainable Features

Mohd Omama, Sundar Sripada Venugopalaswamy Sriraman, Sandeep Chinchali, Arun Kumar Singh, K. Madhava Krishna

• IROS 2022

, 2022

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A Comparative Study of Two Co-Design Methodologies

Taveter, K., Ainamo, A., Iqbal, T., Mooses, K., Laanelepp, M.

• 1st Design Factory Global Network Research Conference

, 2022

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A Survey on Motion Prediction of Pedestrians and Vehicles for Autonomous Driving

Mahir Gulzar, Yar Muhammad, Naveed Muhammad

• IEEE

, 2021

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GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization

Fatemeh Rastgar, Houman Masnavi, Jatan Shrestha, Karl Kruusamäe, Alvo Aabloo, Arun Kumar Singh

• IEEE

, 2021

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Interpreting externally expressed intentions of an autonomous vehicle

Maarika Oidekivi, Alexander Nolte, Alvo Aabloo, Karl Kruusamäe

• IEEE

, 2021

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Securing an MQTT-based Traffic Light Perception System for Autonomous Driving

Abasi-Amefon O. Affia, Raimundas Matulevičius

• IEEE

, 2021

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Security Risk Estimation and Management in Autonomous Driving Vehicles

Abasi-amefon O. Affia, Raimundas Matulevičius, Rando Tõnisson

• CAiSE

, 2021

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Multi-Modal Model Predictive Control through Batch Non-Holonomic Trajectory Optimization: Application to Highway Driving

Vivek K. Adajania, Aditya Sharma, Anish Gupta, Houman Masnavi, K Madhava Krishna, Arun K. Singh

• IEEE

, 2021

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Information Security Analysis in the Passenger-Autonomous Vehicle Interaction

Mariia Bakhtina, Raimundas Matulevicius

• ARES 2021

, 2021

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Air-flow sensing for vehicle length estimation in autonomous driving applications

Roman Matvejev, Yar Muhammad, Naveed Muhammad

• ETFA 2021

, 2021

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Adaptive warning fields for warehouse AGVs

Naveed Muhammad, Klas Hedenberg, Björn Åstrand

• ETFA 2021

, 2021

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A Novel Trajectory Optimization for Affine Systems: Beyond Convex-Concave Procedure

Fatemeh Rastgar, Arun Kumar Singh, Houman Masnavi, Karl Kruusamae, Alvo Aabloo

• IEEE

, 2020

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Bi-Convex Approximation of Non-Holonomic Trajectory Optimization

Arun Kumar Singh, Raghu Ram Theerthala, Mithun Babu, Unni Krishnan R Nair, K. Madhava Krishna

• IEEE

, 2020

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A Survey of End-to-End Driving: Architectures and Training Methods

Ardi Tampuu, Tambet Matiisen, Maksym Semikin, Dmytro Fishman, Naveed Muhammad

• IEEE

, 2020

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Model Predictive Control for Autonomous Driving considering Actuator Dynamics

Mithun Babu, Raghu Ram Theerthala, Arun Kumar Singh, B.P. Baladhurgesh, Bharath Gopalakrishnan, K. Madhava Krishna, Shanti Medasani

• IEEE

, 2019

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Security Risk Management in Cooperative Intelligent Transportation Systems: A Systematic Literature Review

Abasi-Amefon O. Affia, Raimundas Matulevičius, Alexander Nolte

• OTM

, 2019

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