publications

2025

1. ICINCO 2025

   Robust LiDAR-Based Parking Slot Detection and Pose Estimation for Shell Eco-Marathon Vehicles

   Miklós Unger, and Ernő Horváth

   2025

   Bib

   @conference{unger2025parking,
     author = {Unger, Miklós and Horváth, Ernő},
     title = {Robust LiDAR-Based Parking Slot Detection and Pose Estimation for Shell Eco-Marathon Vehicles},
     booktitle = {Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
     year = {2025},
     pages = {486-493},
     publisher = {SciTePress},
     organization = {INSTICC},
     doi = {10.5220/0013772900003982},
     isbn = {978-989-758-770-2},
     issn = {2184-2809},
     dimensions = {true},
   }

2. Eng. Proc.

   Enhancing Autonomous Navigation: Real-Time LIDAR Detection of Roads and Sidewalks in ROS 2

   Barham Jeries Barham Farraj, Abdelrahman Alabdallah, Miklós Unger, and 1 more author

   Engineering Proceedings, 2025

   Bib HTML

   @article{farraj2025enhancing,
     title = {Enhancing Autonomous Navigation: Real-Time LIDAR Detection of Roads and Sidewalks in ROS 2},
     author = {Farraj, Barham Jeries Barham and Alabdallah, Abdelrahman and Unger, Miklós and Horváth, Ernő},
     journal = {Engineering Proceedings},
     volume = {113},
     number = {1},
     year = {2025},
     article-number = {24},
     doi = {10.3390/engproc2025113024},
     url = {https://www.mdpi.com/2673-4591/113/1/24},
     issn = {2673-4591},
     dimensions = {true},
   }

3. Eng. Proc.

   ROS 2-Based Framework for Semi-Automatic Vector Map Creation in Autonomous Driving Systems

   Abdelrahman Alabdallah, Barham Jeries Barham Farraj, and Ernő Horváth

   Engineering Proceedings, 2025

   Bib HTML Code

   @article{alabdallah2025ros2map,
     title = {ROS 2-Based Framework for Semi-Automatic Vector Map Creation in Autonomous Driving Systems},
     author = {Alabdallah, Abdelrahman and Farraj, Barham Jeries Barham and Horváth, Ernő},
     journal = {Engineering Proceedings},
     volume = {113},
     number = {1},
     year = {2025},
     article-number = {13},
     doi = {10.3390/engproc2025113013},
     url = {https://www.mdpi.com/2673-4591/113/1/13},
     issn = {2673-4591},
     dimensions = {true},
   }

4. Appl. Sci.

   Driver Clustering Based on Individual Curve Path Selection Preference

   Gergo Igneczi, Tamas Dobay, Ernő Horváth, and 1 more author

   Applied Sciences, 2025

   Bib HTML PDF

   @article{igneczi2025driverclustering,
     title = {Driver Clustering Based on Individual Curve Path Selection Preference},
     author = {Igneczi, Gergo and Dobay, Tamas and Horváth, Ernő and Nyilas, Krisztian},
     journal = {Applied Sciences},
     volume = {15},
     number = {14},
     year = {2025},
     article-number = {7718},
     doi = {10.3390/app15147718},
     url = {https://www.mdpi.com/2076-3417/15/14/7718},
     issn = {2076-3417},
     dimensions = {true},
   }

5. COS 2024

   Implementation of Automated Control on Test Vehicle for Safe Motion in Roundabouts

   Bence Jekl, Mihály Kopasz, Zoltán Antal, and 4 more authors

   In Proceedings of the 2nd Conference on Sustainability (COS 2024), 2025

   Bib PDF

   @inproceedings{jekl2025roundabouts,
     author = {Jekl, Bence and Kopasz, Mihály and Antal, Zoltán and Németh, Balázs and Gáspár, Péter and Pup, Dániel and Horváth, Ernő},
     booktitle = {Proceedings of the 2nd Conference on Sustainability (COS 2024)},
     title = {Implementation of Automated Control on Test Vehicle for Safe Motion in Roundabouts},
     year = {2025},
     pages = {160-166},
     publisher = {Széchenyi István Egyetem},
     address = {Győr, Hungary},
     isbn = {9786156898043},
     doi = {10.62897/COS2024.2-1.160},
     url = {https://eprints.sztaki.hu/id/eprint/10942},
     dimensions = {true},
   }

6. SAE

   Product Assurance in the Age of Artificial Intelligence

   Rahul Razdan, M. Ilhan Akbas, Suleiman O. Alsweiss, and 7 more authors

   2025

   Bib

   @techreport{Razdan2025ProductAssurance,
     author = {Razdan, Rahul and Akbas, M.\ Ilhan and Alsweiss, Suleiman O. and Cheatham, Angela and Ford, Kenneth and Horváth, Ernő and Kandel, Laxima Niure and Musa, Mohammad and Sell, Raivo and Tóth, Bálint},
     title = {Product Assurance in the Age of Artificial Intelligence},
     type = {Technical Report},
     institution = {SAE International},
     year = {2025},
     pages = {17},
     doi = {10.4271/EPR2025011},
     url = {https://saemobilus.sae.org/reports/product-assurance-age-artificial-intelligence-epr2025011},
     dimensions = {true},
   }

2024

1. ICINCO 2024

   Analysis of Drivers’ Path Follow Behaviour

   Gergő Ferenc Ignéczi, Ernő Horváth, and Attila Borsos

   2024

   Bib

   @inproceedings{FerencIgneczi202493,
     author = {Ferenc Ignéczi, Gergő and Horváth, Ernő and Borsos, Attila},
     title = {Analysis of Drivers’ Path Follow Behaviour},
     year = {2024},
     journal = {Proceedings of the International Conference on Informatics in Control, Automation and Robotics},
     booktitle = {ICINCO 2024},
     volume = {2},
     pages = {93 – 100},
     doi = {10.5220/0012889100003822},
     url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-105002145066&doi=10.5220%2f0012889100003822&partnerID=40&md5=b1da939e5a1612aea385e17d8be45ff1},
     type = {Conference paper},
     publication_stage = {Final},
     source = {Scopus},
     dimensions = {true},
   }

2. SIC Journal

   An Improved IEHO Super-Twisting Sliding Mode Control Algorithm for Trajectory Tracking of a Mobile Robot

   Ahmed Oultiligh, Hassan Ayad, Abdeljalil EL Kari, and 4 more authors

   2024

   Bib PDF

   @article{OULTILIGH202449,
     author = {Oultiligh, Ahmed and Ayad, Hassan and Kari, Abdeljalil EL and Mjahed, Mostafa and Gmili, Nada EL and Horváth, Ernő and Pozna, Claudiu},
     title = {An Improved IEHO Super-Twisting Sliding Mode Control Algorithm for Trajectory Tracking of a Mobile Robot},
     year = {2024},
     journal = {Studies in Informatics and Control},
     volume = {33},
     number = {1},
     pages = {49 – 60},
     doi = {10.24846/v33i1y202405},
     url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85191085370&doi=10.24846%2fv33i1y202405&partnerID=40&md5=1bd6620d6d1a80394b7dc80a59e9487b},
     type = {Article},
     publication_stage = {Final},
     source = {Scopus},
     dimensions = {true},
   }

3. Sage JAE

   Localization robustness improvement for an autonomous race car using multiple extended Kalman filters

   Krisztián Enisz, István Szalay, and Ernő Horváth

   Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2024

   Bib PDF Code

   @article{enisz2024kalman,
     author = {Enisz, Krisztián and Szalay, István and Horváth, Ernő},
     title = {Localization robustness improvement for an autonomous race car using multiple extended Kalman filters},
     journal = {Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering},
     volume = {0},
     number = {0},
     pages = {09544070241266281},
     year = {2024},
     doi = {10.1177/09544070241266281},
     dimensions = {true},
   }

4. IEEE MOST24

   Towards Robust LIDAR Lane Clustering for Autonomous Vehicle Perception in ROS 2

   Miklós Unger, Ernő Horváth, Dániel Pup, and 1 more author

   In 2024 IEEE International Conference on Mobility, Operations, Services and Technologies (MOST), 2024

   Bib Code

   @inproceedings{unger2024clustering,
     author = {Unger, Miklós and Horváth, Ernő and Pup, Dániel and Pozna, Claudiu Radu},
     booktitle = {2024 IEEE International Conference on Mobility, Operations, Services and Technologies (MOST)},
     title = {Towards Robust LIDAR Lane Clustering for Autonomous Vehicle Perception in ROS 2},
     year = {2024},
     volume = {},
     number = {},
     pages = {229-234},
     keywords = {Laser radar;Lane detection;Source coding;Clustering algorithms;Robustness;Pattern recognition;Autonomous vehicles;self-driving;autonomous;point cloud;LIDAR;proceeding;filter;geometric patterns},
     doi = {10.1109/MOST60774.2024.00031},
     dimensions = {true},
   }

5. Springer Auto. I.

   Curve Trajectory Model for Human Preferred Path Planning of Automated Vehicles

   Gergo Ferenc Igneczi, Ernő Horváth, Roland Toth, and 1 more author

   Automotive Innovation, 2024

   Bib PDF Code

   @article{igneczi2024curve,
     title = {Curve Trajectory Model for Human Preferred Path Planning of Automated Vehicles},
     author = {Igneczi, Gergo Ferenc and Horváth, Ernő and Toth, Roland and Nyilas, Krisztian},
     journal = {Automotive Innovation},
     pages = {1--12},
     year = {2024},
     publisher = {Springer},
     doi = {10.1007/s42154-023-00259-8},
     dimensions = {true},
   }

2023

1. IEEE SISY23

   A Linear Driver Model of Local Path Planning for Lane Driving

   Gergo Ferenc Igneczi, Ernő Horváth, and Krisztian Nyilas

   In 2023 IEEE 21st Jubilee International Symposium on Intelligent Systems and Informatics (SISY), 2023

   Bib HTML Code

   @inproceedings{igneczi2023lineardrivermodel,
     author = {Igneczi, Gergo Ferenc and Horváth, Ernő and Nyilas, Krisztian},
     booktitle = {2023 IEEE 21st Jubilee International Symposium on Intelligent Systems and Informatics (SISY)},
     title = {A Linear Driver Model of Local Path Planning for Lane Driving},
     year = {2023},
     volume = {},
     number = {},
     pages = {000103-000108},
     keywords = {Roads;Path planning;Behavioral sciences;Vehicle dynamics;Intelligent systems;Informatics;Vehicles;Driver Model;Path Planning;Naturalistic Driving},
     doi = {10.1109/SISY60376.2023.10417953},
     url = {https://ieeexplore.ieee.org/document/10417953},
     dimensions = {true},
   }

2. Machines

   Deep Learning-Based Approach for Autonomous Vehicle Localization: Application and Experimental Analysis

   Norbert Markó, Ernő Horváth, István Szalay, and 1 more author

   Machines, 2023

   Abs Bib HTML Code

   In a vehicle, wheel speed sensors and inertial measurement units (IMUs) are present onboard, and their raw data can be used for localization estimation. Both wheel sensors and IMUs encounter challenges such as bias and measurement noise, which accumulate as errors over time. Even a slight inaccuracy or minor error can render the localization system unreliable and unusable in a matter of seconds. Traditional algorithms, such as the extended Kalman filter (EKF), have been applied for a long time in non-linear systems. These systems have white noise in both the system and in the estimation model. These approaches require deep knowledge of the non-linear noise characteristics of the sensors. On the other hand, as a subset of artificial intelligence (AI), neural network-based (NN) algorithms do not necessarily have these strict requirements. The current paper proposes an AI-based long short-term memory (LSTM) localization approach and evaluates its performance against the ground truth.

   @article{machines11121079,
     author = {Markó, Norbert and Horváth, Ernő and Szalay, István and Enisz, Krisztián},
     title = {Deep Learning-Based Approach for Autonomous Vehicle Localization: Application and Experimental Analysis},
     journal = {Machines},
     volume = {11},
     year = {2023},
     number = {12},
     article-number = {1079},
     url = {https://www.mdpi.com/2075-1702/11/12/1079},
     issn = {2075-1702},
     doi = {10.3390/machines11121079},
     dimensions = {true},
   }

3. IEEE Network

   Network Optimization Aspects of Autonomous Vehicles: Challenges and Future Directions

   Rudolf Krecht, Tamás Budai, Ernő Horváth, and 3 more authors

   IEEE Network, 2023

   Bib HTML

   @article{IEEEnetwork10293243,
     author = {Krecht, Rudolf and Budai, Tamás and Horváth, Ernő and Kovács, Ákos and Markó, Nobert and Unger, Miklós},
     journal = {IEEE Network},
     title = {Network Optimization Aspects of Autonomous Vehicles: Challenges and Future Directions},
     year = {2023},
     volume = {37},
     number = {4},
     pages = {282-288},
     doi = {10.1109/MNET.007.2300023},
     url = {https://ieeexplore.ieee.org/document/10293243},
     dimensions = {true},
   }

4. IEEE SAMI 23

   Node Point Optimization for Local Trajectory Planners based on Human Preferences

   Gergo Ferenc Igneczi, and Ernő Horváth

   In 2023 IEEE 21st World Symposium on Applied Machine Intelligence and Informatics (SAMI), 2023

   Bib

   @inproceedings{SAMI23NodePointOptimization,
     author = {Igneczi, Gergo Ferenc and Horváth, Ernő},
     booktitle = {2023 IEEE 21st World Symposium on Applied Machine Intelligence and Informatics (SAMI)},
     title = {Node Point Optimization for Local Trajectory Planners based on Human Preferences},
     year = {2023},
     volume = {},
     number = {},
     pages = {000225-000230},
     doi = {10.1109/SAMI58000.2023.10044488},
     dimensions = {true},
   }

2022

1. Sensors

   Real-Time LIDAR-Based Urban Road and Sidewalk Detection for Autonomous Vehicles

   Ernő Horváth, Claudiu Pozna, and Miklós Unger

   Sensors, 2022

   Bib HTML PDF Code

   @article{roadfilt2022lidar,
     title = {Real-Time LIDAR-Based Urban Road and Sidewalk Detection for Autonomous Vehicles},
     author = {Horváth, Ernő and Pozna, Claudiu and Unger, Miklós},
     journal = {Sensors},
     volume = {22},
     year = {2022},
     number = {1},
     url = {https://www.mdpi.com/1424-8220/22/1/194},
     issn = {1424-8220},
     doi = {10.3390/s22010194},
     dimensions = {true},
   }

2. IEEE SAMI 22

   A Clothoid-based Local Trajectory Planner with Extended Kalman Filter

   Gergő Ignéczi, and Ernő Horváth

   In 2022 IEEE 20th Jubilee World Symposium on Applied Machine Intelligence and Informatics (SAMI), 2022

   Bib

   @inproceedings{9780857,
     author = {Ignéczi, Gergő and Horváth, Ernő},
     booktitle = {2022 IEEE 20th Jubilee World Symposium on Applied Machine Intelligence and Informatics (SAMI)},
     title = {A Clothoid-based Local Trajectory Planner with Extended Kalman Filter},
     year = {2022},
     volume = {},
     number = {},
     pages = {000467-000472},
     doi = {10.1109/SAMI54271.2022.9780857},
     dimensions = {true},
   }

3. IEEE TFS

   Hybrid Particle Filter–Particle Swarm Optimization Algorithm and Application to Fuzzy Controlled Servo Systems

   Claudiu Pozna, Radu-Emil Precup, Ernő Horváth, and 1 more author

   IEEE Transactions on Fuzzy Systems, 2022

   Bib HTML

   @article{HybridParticle2022Pozna,
     author = {Pozna, Claudiu and Precup, Radu-Emil and Horváth, Ernő and Petriu, Emil M.},
     journal = {IEEE Transactions on Fuzzy Systems},
     title = {Hybrid Particle Filter–Particle Swarm Optimization Algorithm and Application to Fuzzy Controlled Servo Systems},
     year = {2022},
     volume = {30},
     number = {10},
     pages = {4286-4297},
     doi = {10.1109/TFUZZ.2022.3146986},
     url = {https://ieeexplore.ieee.org/document/9697415},
     dimensions = {true},
   }

2021

1. Implementation of a self-developed model predictive control scheme for vehicle parking maneuvers

   Gergő Ignéczi, Ernő Horváth, and Dániel Pup

   2021

   Bib PDF

   @misc{igneczi2021implementation,
     title = {Implementation of a self-developed model predictive control scheme for vehicle parking maneuvers},
     author = {Ignéczi, Gergő and Horváth, Ernő and Pup, Dániel},
     year = {2021},
     eprint = {2109.10075},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     dimensions = {true},
   }

2. IEEE ICECCME 21

   Case Study on the Tactical Level of an Autonomous Vehicle Control

   Claudiu Radu Pozna, Csaba Antonya, and Ernő Horváth

   In 2021 International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), 2021

   Bib

   @inproceedings{Tactical9590868,
     author = {Pozna, Claudiu Radu and Antonya, Csaba and Horváth, Ernő},
     booktitle = {2021 International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME)},
     title = {Case Study on the Tactical Level of an Autonomous Vehicle Control},
     year = {2021},
     volume = {},
     number = {},
     pages = {1-6},
     doi = {10.1109/ICECCME52200.2021.9590868},
     dimensions = {true},
   }

3. IEEE SAMI 21

   Clothoid-based Trajectory Following Approach for Self-driving vehicles

   Ernő Horváth, and Claudiu Radu Pozna

   In 2021 IEEE 19th World Symposium on Applied Machine Intelligence and Informatics (SAMI), 2021

   Bib

   @inproceedings{clothoid9378664,
     author = {Horváth, Ernő and Pozna, Claudiu Radu},
     booktitle = {2021 IEEE 19th World Symposium on Applied Machine Intelligence and Informatics (SAMI)},
     title = {Clothoid-based Trajectory Following Approach for Self-driving vehicles},
     year = {2021},
     volume = {},
     number = {},
     pages = {000251-000254},
     doi = {10.1109/SAMI50585.2021.9378664},
     dimensions = {true},
   }

2020

1. IEEE INES 20

   Development of Point-cloud Processing Algorithm for Self-Driving Challenges

   Miklós Unger, Ernő Horváth, and Péter Kőrös

   In 2020 IEEE 24th International Conference on Intelligent Engineering Systems (INES), 2020

   Bib

   @inproceedings{PointCloud9147201,
     author = {Unger, Miklós and Horváth, Ernő and Kőrös, Péter},
     booktitle = {2020 IEEE 24th International Conference on Intelligent Engineering Systems (INES)},
     title = {Development of Point-cloud Processing Algorithm for Self-Driving Challenges},
     year = {2020},
     volume = {},
     number = {},
     pages = {91-96},
     doi = {10.1109/INES49302.2020.9147201},
     dimensions = {true},
   }

2. IEEE INES 20

   Self-Driving Vehicle Sensors from One-Seated Experimental to Road-legal Vehicle

   Péter Kőrös, Gábor Szakállas, Péter Gulyás, and 3 more authors

   In 2020 IEEE 24th International Conference on Intelligent Engineering Systems (INES), 2020

   Bib

   @inproceedings{9147181,
     author = {Kőrös, Péter and Szakállas, Gábor and Gulyás, Péter and Pusztai, Zoltán and Szeli, Zoltán and Horváth, Ernő},
     booktitle = {2020 IEEE 24th International Conference on Intelligent Engineering Systems (INES)},
     title = {Self-Driving Vehicle Sensors from One-Seated Experimental to Road-legal Vehicle},
     year = {2020},
     volume = {},
     number = {},
     pages = {97-102},
     doi = {10.1109/INES49302.2020.9147181},
     dimensions = {true},
   }

3. HJIC

   Theoretical background and application of multiple goal pursuit trajectory follower

   Ernő Horváth, Claudiu Pozna, Péter Kőrös, and 2 more authors

   Hungarian Journal of Industry and Chemistry, 2020

   Bib PDF Code

   @article{horvath2020theoretical,
     title = {Theoretical background and application of multiple goal pursuit trajectory follower},
     author = {Horváth, Ernő and Pozna, Claudiu and Kőrös, Péter and Hajdu, Csaba and Ballagi, Áron},
     journal = {Hungarian Journal of Industry and Chemistry},
     volume = {48},
     number = {1},
     pages = {11--17},
     year = {2020},
     dimensions = {true},
   }

2018

1. APH

   Robot Coverage Path Planning Based on Iterative Structured Orientation

   Ernő Horváth, C. Pozna, and Radu-Emil Precup

   Acta Polytechnica Hungarica, Jan 2018

   Bib PDF Code

   @article{article,
     author = {Horváth, Ernő and Pozna, C. and Precup, Radu-Emil},
     year = {2018},
     month = jan,
     pages = {231-249},
     title = {Robot Coverage Path Planning Based on Iterative Structured Orientation},
     volume = {15},
     journal = {Acta Polytechnica Hungarica},
     doi = {10.12700/APH.15.1.2018.2.12},
     dimensions = {true},
   }