Safe Autonomy and Intelligence Lab

Preprints

Ruyi Teng, Zifan Wang, and Yulong Gao. Exact Variance of Random Return in Distributional LQR and Its Application to Mean-Variance Optimal Control, Submitted.
Ruyi Teng, Dan Wang, Wei Chen, and Yulong Gao. Positive Definiteness of Truncated Random Return in Distributional LQR with Applications to Distributionally Robust Verification and Control, Submitted.
Jian Zhou, Yulong Gao, Pian Yu, Alvaro Carrizosa-Rendon, Bjorn Olofsson, and Erik Frisk. Intention-Aware Reachability Prediction for Dynamic Collision Avoidance in Uncertain Traffic, Submitted.

Selected Publications (My Google Scholar)

Book Chapters

Yulong Gao, Can Zhou, Davide Zanarini, Davide Bresolin, Karl H. Johansson, Alessandro Abate. Sampling-based Polytope Calculus: Theory and Applications, Design and Verification of Cyber-Physical Systems: From Theory to Applications, Springer, 2025.
Yulong Gao, Can Zhou, Alessandro Abate, and Karl H. Johansson, Adaptive Task Planning and Formal Control Synthesis using Temporal Logic Trees, In Paul Pettersson, Bernhard Steffen, Susanne Graf Eds., Real Time and Such (RTaS), Spinger, 2024. Link
Yulong Gao, Zexiang Liu, Jian Zhou, and Mark Cannon, Robust Reachability under Uncertainty: Propagation, Computation, and Applications, In Zhengtao Ding Ed., Encyclopedia of Systems and Control Engineering, Elsevier, 2024.

Journal Papers

Zifan Wang, Yulong Gao, Siyi Wang, Michael Zavlanos, Alessandro Abate, Karl Henrik Johansson. Policy Evaluation in Distributional LQR, IEEE Transaction on Automatic Control. To appear.
Jian Zhou, Yulong Gao, Bjorn Olofsson, and Erik Frisk. Robust Motion Planning for Autonomous Vehicles Based on Environment and Uncertainty-Aware Reachability Prediction, Control Engineering Practice, 2025, 160, 106319. Link
Jian Zhou, Yulong Gao, Ola Johansson, Bjorn Olofsson, and Erik Frisk. Robust Predictive Motion Planning by Learning Obstacle Uncertainty, IEEE Transactions on Control Systems Technology. To appear. Link
Siyi Wang, Yulong Gao, and Sandra Hirche, Optimal Transmission Power Scheduling for Networked Control System under DoS Attack, IEEE Transactions on Industrial Cyber-Physical Systems, 2025, 3, 198 - 207. Link
Li Dai, Teng Huang, Yulong Gao, Sihang Li, Yunshan Deng, Yuanqing Xia, Data-Driven Predictive Control for Safe Motion Planning, Unmanned Systems, to appear.
Yulong Gao, Alessandro Abate, Lihua Xie, and Karl H. Johansson. Distributional Reachability for Markov Decision Processes: Theory and Applications, IEEE Transaction on Automatic Control, 2024, 69(7), 4598 - 4613. Link
Pian Yu, Yulong Gao, Frank J. Jiang, Karl H. Johansson, and Dimos V. Dimarogonas. Online Control Synthesis for Uncertain Systems under Signal Temporal Logic Specifications, The International Journal of Robotics Research, 2024, 43(6), 765-790. Link
Zexiang Liu, Hao Chen, Yulong Gao, Necmiye Ozay. Opportunistic Safety Outside the Maximal Controlled Invariant Set, IEEE Control Systems Letters, 2023, 7, 3992 - 3997. Link
Yulong Gao, Alessandro Abate, Frank J. Jiang, Mirco Giacobbe, Lihua Xie, and Karl H. Johansson. Temporal Logic Trees for Model Checking and Control Synthesis of Uncertain Discrete-time Systems, IEEE Transaction on Automatic Control, 2022, 67(10), 5071 - 5086. Link
Yulong Gao, Frank J. Jiang, Lihua Xie, and Karl H. Johansson. Risk-Aware Optimal Control for Automated Overtaking with Safety Guarantee, IEEE Transactions on Control Systems Technology, 2022, 30(4), 1460 - 1472. Link
Yulong Gao, Mark Cannon, Lihua Xie, and Karl H. Johansson. Invariant Cover: Existence, Cardinality Bounds, and Computation, Automatica, 2021, 129, 109588. Link
Yulong Gao, Karl H. Johansson, and Lihua Xie. Computing Probabilistic Controlled Invariant Sets, IEEE Transaction on Automatic Control, 2021, 66(7), 3138 - 3151. Link
Sixing Zhang, Li Dai, Yulong Gao, Yuanqing Xia, Adaptive Interpolating Control for Constrained Systems with Parametric Uncertainty and Disturbances. International Journal of Robust and Nonlinear Control, 2020, 30(16), 6838-6852. Link
Yulong Gao, Pian Yu, Dimos V. Dimarogonas, Karl H. Johansson, and Lihua Xie. Self-triggered Control for Constrained Systems via Reachability Analysis. Automatica, 2019, 107, 574-581. Link
Li Dai, Yulong Gao, Lihua Xie, Karl H. Johansson, and Yuanqing Xia. Stochastic Self-Triggered Model Predictive Control for Linear Systems with Probabilistic Constraints. Automatica, 2018, 92, 9-17. Link
Yulong Gao, Li Dai, Yuanqing Xia, and Yuwei Liu. Distributed Model Predictive Control for Consensus of Nonlinear Second-Order Multi-Agent Systems. International Journal of Robust and Nonlinear Control, 2017, 27(5), 830-842. Link
Li Dai, Yuanqing Xia, Yulong Gao, and Mark Cannon. Distributed Stochastic MPC of Linear Systems with Additive Uncertainty and Coupled Probabilistic Constraints. IEEE Transaction on Automatic Control, 2017, 62(7), 3474-3481. Link
Li Dai, Yuanqing Xia, and Yulong Gao, Basil Kouvaritakis, Mark Cannon. Cooperative Distributed Stochastic MPC of Linear Systems with State Estimation and Coupled Probabilistic Constraints. Automatica, 2015, 61, 89-96. Link

Conference papers

Xiyue Zhang, Zifan Wang, Yulong Gao, Licio Romao, Alessandro Abate, Marta Kwiatkowska. Risk-Averse Certification of Bayesian Neural Networks, Proceedings of 11th CCF International Symposium on Dependable Software Engineering Theories, Tools and Applications, 2025
Ruyi Teng, Dan Wang, Wei Chen, and Yulong Gao. Quadratic Truncated Random Return in Distributional LQR: Positive Definiteness, Density, and Log-Concavity, Proceedings of 64rd IEEE Conference on Decision and Control, 2025.
Can Zhou, Pian Yu, Thomas Parisini, Alessandro Abate, Yulong Gao. Fair Control of Uncertain Dynamical Systems under LTL Specifications, Proceedings of 64rd IEEE Conference on Decision and Control, 2025.
Yixun Wen, Yulong Gao, Boli Chen. Distributionally Robust Equilibria over the Wasserstein Distance for Generalized Nash Game, Proceedings of 64rd IEEE Conference on Decision and Control, 2025.
Yulong Gao, Shuhao Yan, Jian Zhou, and Mark Cannon, Learning-based Homothetic Tube Model Predictive Control, Proceedings of 23rd European Control Conference, 2025.
Xiaoxing Ren, Alessio Moreschini, Zhongda Chu, Yulong Gao, and Thomas Parisini, Data-Driven Adjustable Robust Optimization, Proceedings of 23rd European Control Conference, 2025.
Jian Zhou, Yulong Gao, Bjorn Olofsson, and Erik Frisk. Uncertainty-Aware Decision-Making and Planning for Autonomous Forced Merging, Proceedings of 63rd IEEE Conference on Decision and Control, 2024. Link
Yulong Gao, Shuhao Yan, Jian Zhou, Mark Cannon, Alessandro Abate, and Karl H Johansson. Learning-based Rigid Tube Model Predictive Control, Proceedings of 6th Annual Learning for Dynamics & Control Conference, 2024. Link
Yulong Gao, Karl H. Johansson, and Alessandro Abate. CTL Model Checking of MDPs over Distribution Spaces: Algorithms and Sampling-based Computations, Proceedings of 27th ACM International Conference on Hybrid Systems: Computation and Control, 2024. Link
Maico Hendrikus Wilhelmus Engelaar, Licio Romao, Yulong Gao, Mircea Lazar, Alessandro Abate, and Sofie Haesaert. Abstracting Linear Stochastic Systems via Knowledge Filtering, Proceedings of 62nd IEEE Conference on Decision and Control, 2023. Link
Zifan Wang, Yulong Gao, Siyi Wang, Michael Zavlanos, Alessandro Abate, Karl Henrik Johansson. Policy Evaluation in Distributional LQR, Proceedings of 5th Annual Learning for Dynamics & Control Conference, 2023. (SPOTLIGHT PRESENTATION, best 16 of 167 submissions) Link
Yulong Gao, Changxin Liu, and Karl H. Johansson. Robust Risk-Aware Model Predictive Control of Linear Systems with Bounded Disturbances, Proceedings of 61st IEEE Conference on Decision and Control, 2022. Link
Frank J. Jiang, Yulong Gao, Lihua Xie, and Karl H. Johansson. Human-Centered Design for Safe Teleoperation of Connected Vehicles, Proceedings of 3rd IFAC Workshop on Cyber-Physical & Human Systems, 2020. Link
Frank J. Jiang, Yulong Gao, Lihua Xie, and Karl H. Johansson. Ensuring Safety for Linear Temporal Logic-specified Vehicle Parking Tasks using Hamilton-Jacobi Reachability Analysis, Proceedings of 59th IEEE Conference on Decision and Control, 2020, 1416-1421. Link
Yulong Gao, Lihua Xie, and Karl H. Johansson. Probabilistic Characterization of Target Set and Region of Attraction for Discrete-time Control Systems, Proceedings of IEEE International Conference on Control & Automation, 2020, 594-599. Link
Yulong Gao, Frank J. Jiang, Xiaoqiang Ren, Lihua Xie, and Karl H. Johansson. Reachability-based Human-in-the-Loop Control with Uncertain Specifications, Proceedings of IFAC World Congress, 2020. Link
Yulong Gao, Frank J. Jiang, Karl H. Johansson, Lihua Xie. Stochastic Modeling and Optimal Control for Automated Overtaking, Proceedings of 58th IEEE Conference on Decision and Control, 2019, 1273-1278. Link
Yulong Gao, Shuang Wu, Karl H. Johansson, Ling Shi, Lihua Xie. Stochastic Optimal Control of Dynamic Queue Systems: A Probabilistic Perspective, In Proceedings of 15th International Conference on Control, Automation, Robotics and Vision, 2018, 837-842. Link
Yulong Gao, Matin Jafarian, Karl H. Johansson, Lihua Xie. Distributed Freeway Ramp Metering: Optimization on Flow Speed. In Proceedings of 56th IEEE Conference on Decision and Control, 2017, 5654-5659. Link
Li Dai, Yuanqing Xia, Yulong Gao, Mark Cannon. Distributed Stochastic MPC of Linear Systems with Parameter Uncertainty and Disturbances. In Proceedings of 35th Chinese Control Conference, 2016, 4312-4317. Link

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