Illés Vörös

Education

Professional Experience

Language Skills

Scholarships and Awards

Main research areas

• Dynamics and control of autonomous vehicles
• Safety critical control
• Predictor feedback control, finite spectrum assignment
• Non-holonomic mechanical systems
• Time delay systems

Publications

Journal papers

I. Vörös, C. Jiang, H. Gan, D. Takács, X. Li, I. Kolmanovsky, J. Talbot, J. Dallas, J. Subosits, G. Orosz: Safe Lane-Keeping with Control Barrier Functions: From Theory to Practical Implementation, IEEE Transactions on Control Systems Technology, accepted manuscript, (2026)

X. A. Ji, S. S. Avedisov, M. I. Khan, I. Vörös, O. Altintas, G. Orosz: On the effects of latency in teleoperated driving: stability and performance analysis, Vehicle System Dynamics, published online, (2025) DOI

J. Li, D. Takács, J. Lu, I. Vörös, G. Stépán: Exploring optimal feedback delays of lane-keeping controller, Vehicle System Dynamics, published online, (2025) DOI

I. Vörös, G. Orosz, D. Takács: On the global dynamics of path-following control of automated passenger vehicles, Nonlinear Dynamics, vol. 111, pp. 8235–8252, (2023) DOI  

I. Vörös, D. Takács, G. Orosz: Safe lane-keeping with feedback delay: bifurcation analysis and experiments, IEEE Control Systems Letters, vol. 7, pp. 1147-1152, (2023) DOI  

A. Bártfai, I. Vörös, D. Takács: Stability analysis of a digital hierarchical steering controller of autonomous vehicles with multiple time delays, Journal of Vibration and Control, (2023) DOI  

I. Vörös, D. Takács: Lane-keeping control of automated vehicles with feedback delay: Nonlinear analysis and laboratory experiments, European Journal of Mechanics - A/Solids, 93, 104509, (2022) DOI  

L. C. Schaefer, M. Junge, I. Vörös, K. Kocaslan, U. Becker: Odds ratios for reclined seating positions in real-world crashes, Accident Analysis & Prevention, 161, (2021) DOI  

I. Vörös, L. Turányi, B. Várszegi, D. Takács: Small-scale Experimental Test Rig for Lateral Vehicle Control, Periodica Polytechnica Mechanical Engineering, 65(2), pp. 163–170, (2021) DOI  

I. Vörös, B. Várszegi, D. Takács: The effects of tire dynamics on the performance of finite spectrum assignment of vehicle motion control, Journal of Vibration and Control, 28(1-2), pp. 45-57, (2022) DOI  

Book chapter

G. Orosz, I. Vörös, D. Takács: On the handling dynamics of automated vehicles: an Appellian view, Vehicle Dynamics, Control and Design, CISM International Centre for Mechanical Sciences, vol. 620, B. Lenzo and F. Naets, eds., Springer, pp. 221-280 (2025) DOI  

Conference papers

Y. Chen, I. Vörös, T. G. Molnár, G. Orosz: Safe lane-keeping with lag-compensating control barrier functions, 37th IEEE Intelligent Vehicles Symposium (IV 2026), June 22 - 25, 2026, Detroit, MI, USA, accepted manuscript

M. B. Vizi, I. Vörös, B. Yu, T. Biallas, P. J. Richmond, G. Orosz: Controlling the nonlinear dynamics of trailer sway, 37th IEEE Intelligent Vehicles Symposium (IV 2026), June 22 - 25, 2026, Detroit, MI, USA, accepted manuscript

X. Li, I. Kolmanovsky, A. Girard, I. Vörös, G. Orosz, M. Suminaka, J. Talbot, J. Dallas, J. Subosits: Lane keeping using Lyapunov function-based reference governor: an optimization-free approach, American Control Conference (ACC 2025), IEEE, pp. 2342-2349, July 8 - 10, 2025, Denver, CO, USA DOI  

I. Vörös, D. Takács, and G. Orosz: Cornering with driving torque: steady state cornering, donuts, drifting, 29th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2025), August 18 - 22, 2025, Shanghai, China  

X. A. Ji, S. S. Avedisov, I. Vörös, M. I. Khan, O. Altintas, G. Orosz: Learning teleoperated driving behavior from limited trajectory data, 36th IEEE Intelligent Vehicles Symposium (IV 2025), pp. 2130-2135, June 22 - 25, 2025, Cluj-Napoca, Romania DOI  

I. Vörös, X. Li, I. Kolmanovsky, J. Talbot, J. Dallas, M. Suminaka, J. Subosits, G. Orosz: Lane-keeping guardian with safety filter: Experimental validation, 36th IEEE Intelligent Vehicles Symposium (IV 2025), pp. 1490-1495, June 22 - 25, 2025, Cluj-Napoca, Romania DOI  

S. Lim, I. Vörös, Y. Lim, G. Orosz: The effects of four-wheel steering on the path-tracking control of automated vehicles, 22nd Asia Pacific Automotive Engineering Conference (APAC22), November 18 - 20, 2024, Jeju Island, Korea  

C. Jiang, H. Gan, I. Vörös, D. Takács, G. Orosz: Safety filter for lane-keeping control, Proceedings of the 16th International Symposium on Advanced Vehicle Control (AVEC’24), September 1 - 5, 2024, Milan, Italy DOI  

J. Li, D. Takács, J. Lu, I. Vörös, G. Stépán: Tuning Time Delays to Improve the Performance of a Steering Controller, Proceedings of the 16th International Symposium on Advanced Vehicle Control (AVEC’24), September 1 - 5, 2024, Milan, Italy DOI  

X. A. Ji, S. S. Avedisov, M. I. Khan, M. C. Lucas-Estañ, B. Coll-Perales, I. Vörös, O. Altintas, G. Orosz: Fundamental rules of teleoperated driving with network latency on curvy roads, 35th IEEE Intelligent Vehicles Symposium (IV 2024), June 2 - 5, 2024, Jeju Island, Korea DOI  

I. Vörös, D. Takács: The effects of road curvature on the stability of path-following of automated vehicles, Third International Nonlinear Dynamics Conference (NODYCON 2023), June 18 - 22, 2023, Rome, Italy  

I. Vörös, D. Takács: Stability Analysis of a Hierarchical Lane-keeping Controller with Feedback Delay, 17th IFAC Workshop on Time Delay Systems (TDS 2022), September 27 - 30, 2022, Montreal, Canada DOI  

I. Vörös, D. Takács, G. Orosz: Unsafe Parameter Zones of a Lane-Keeping Controller with Feedback Delay: Bifurcation Analysis and Experiments, Proceedings of the 15th International Symposium on Advanced Vehicle Control (AVEC’22), September 12 - 15, 2022, Virtual Conference  

L. Mihályi, I. Vörös, D. Takács: Reversing a Truck-Full Trailer Considering the Feedback Delay, Proceedings of the 15th International Symposium on Advanced Vehicle Control (AVEC’22), September 12 - 15, 2022, Virtual Conference  

I. Vörös, D. Takács: The Effects of Measurement Noise on Vehicle Motion Control with Delayed State Feedback, 10th European Nonlinear Dynamics Conference (ENOC 2022), July 17 - 22, 2022, Lyon, France  

I. Vörös, D. Takács: The Effects of Trailer Towing on the Dynamics of a Lane-Keeping Controller, In Proceedings of ASME Dynamic Systems and Control Conference (DSCC 2020), October 5 - 7, 2020, Virtual Conference DOI  

I. Vörös, D. Takács: Bifurcation Analysis of a Lane Keeping Controller With Feedback Delay, In Proceedings of ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2020), August 17 - 19, 2020, Virtual Conference DOI  

I. Vörös, B. Várszegi, D. Takács: Lane Keeping Control Using Finite Spectrum Assignment with Modeling Errors, In Proceedings of ASME Dynamic Systems and Control Conference (DSCC 2019), October 8 - 11, 2019, Park City, Utah, USA DOI  

I. Vörös, B. Várszegi: Lateral Vehicle Control Using Finite Spectrum Assignment, In Proceedings of 14th IFAC Workshop on Time Delay Systems (IFAC-TDS 2018), pp. 306-311, June 28 – 30, 2018, Budapest, Hungary DOI  

A. Bártfai, I. Vörös, D. Takács: Időkésés és mintavételezés hatása egy autó sávtartó szabályozásában, In Proceedings of 29th Nemzetközi Gépészeti Konferencia (OGÉT 2021), pp. 204-207, April 23, 2021, Virtual conference

I. Vörös, B. Várszegi, D. Takács: Időkéséssel terhelt járműmodell predikció alapú szabályozása, In Proceedings of XIII. Magyar Mechanikai Konferencia (MaMeK 2019), August 27 - 29, 2019, Miskolc, Hungary  

I. Vörös, B. Várszegi: Sávváltás prediktív modell alapú szabályozása, In Proceedings of 25th Nemzetközi Gépészeti Konferencia (OGÉT 2017), pp. 476-479, April 27 – 30, 2017, Cluj-Napoca, Romania