Karl Berntorp

Karl Berntorp
  • Biography

    Karl's doctoral research addressed development of particle-filtering methods, and sensor fusion and optimal control applied to vehicles and robots. His research interests are in nonlinear estimation and control, path planning, motion control, and their applications to automotive, robotics, and aerospace systems.

  • News & Events

  • Internships with Karl

    • ME1004: Autonomous Vehicle Control

      MERL is looking for a highly motivated individual to work with MERL researchers on vehicle control, driven by the latest advancements in autonomous vehicles. The ideal candidate has a background in controls with applications to automotive. Knowledge and experience of any of the following techniques is considered a merit: model predictive control, sampling/graph-based motion planning, Bayesian inference. Proficiency in Matlab is expected, and knowledge of C/C++ is a plus. The duration of the internship is 3-6 months. Start date is flexible.

    • ME1005: Deep Learning for Autonomy

      MERL is seeking a qualified and motivated individual for researching new exciting applications of artificial intelligence and deep learning. The ideal candidate is a senior PhD student with a background in artificial intelligence/deep learning, preferably with experience within automotive and/or robotics. Ph.D. students in computer vision, machine learning, and/or in the intersection of controls and machine learning are encouraged to apply. Proficiency in Matlab and C++ are expected. The expected duration of the internship is 3-6 months and the start date is flexible.

    See All Internships at MERL
  • MERL Publications

    See All Publications for Karl
  • Other Publications

    •  K. Berntorp, "Joint Wheel-Slip and Vehicle-Motion Estimation Based on Inertial, GPS, and Wheel-Speed Sensors", IEEE Transactions on Control Systems Technology, Vol. 24, No. 3, pp. 1020-1027, May 2016.
      BibTeX
      • @Article{7247687,
      • author = {K. Berntorp},
      • title = {Joint Wheel-Slip and Vehicle-Motion Estimation Based on Inertial, GPS, and Wheel-Speed Sensors},
      • journal = {IEEE Transactions on Control Systems Technology},
      • year = 2016,
      • volume = 24,
      • number = 3,
      • pages = {1020--1027},
      • month = may
      • }
    •  Olofsson, Bjorn; Berntorp, Karl; Robertsson, Anders, "A Convex Approach to Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Vehicles," Tech. Rep., Department of Automatic Control, Lund University, Sweden, 2015.
      BibTeX
      • @Techreport{8232521,
      • author = {Olofsson, Bjorn and Berntorp, Karl and Robertsson, Anders},
      • title = {A Convex Approach to Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Vehicles},
      • institution = {Department of Automatic Control, Lund University, Sweden},
      • year = 2015
      • }
    •  Berntorp, Karl, "Particle Filter for Combined Wheel-Slip and Vehicle-Motion Estimation", 2015 American Control Conference, July 2015.
      BibTeX
      • @Inproceedings{berntorp2015acc,
      • author = {Berntorp, Karl},
      • title = {Particle Filter for Combined Wheel-Slip and Vehicle-Motion Estimation},
      • booktitle = {2015 American Control Conference},
      • year = 2015,
      • address = {Chicago, IL},
      • month = jul
      • }
    •  Berntorp, Karl; Magnusson, Fredrik, "Hierarchical Predictive Control for Ground-Vehicle Maneuvering", 2015 American Control Conference, July 2015.
      BibTeX
      • @Inproceedings{berntorp_magnusson2015acc,
      • author = {Berntorp, Karl and Magnusson, Fredrik},
      • title = {Hierarchical Predictive Control for Ground-Vehicle Maneuvering},
      • booktitle = {2015 American Control Conference},
      • year = 2015,
      • address = {Chicago, IL},
      • month = jul
      • }
    •  Berntorp, Karl; Olofsson, Bjorn; Robertsson, Anders, "Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Mobile Robots Using Convex Optimization", 2014 American Control Conference, June 2014.
      BibTeX
      • @Inproceedings{bern_etal2014acc,
      • author = {Berntorp, Karl and Olofsson, Bjorn and Robertsson, Anders},
      • title = {Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Mobile Robots Using Convex Optimization},
      • booktitle = {2014 American Control Conference},
      • year = 2014,
      • address = {Portland, Oregon},
      • month = jun
      • }
    •  Berntorp, Karl; Nordh, Jerker, "Rao-Blackwellized Particle Smoothing for Occupancy-Grid Based SLAM Using Low-Cost Sensors", 19th IFAC World Congress, August 2014.
      BibTeX
      • @Inproceedings{bern_jnifacwc,
      • author = {Berntorp, Karl and Nordh, Jerker},
      • title = {Rao-Blackwellized Particle Smoothing for Occupancy-Grid Based SLAM Using Low-Cost Sensors},
      • booktitle = {19th IFAC World Congress},
      • year = 2014,
      • address = {Cape Town, South Africa},
      • month = aug
      • }
    •  Berntorp, Karl; Robertsson, Anders; Arzen, Karl-Erik, "Rao-Blackwellized Particle Filters with Out-of-Sequence Measurement Processing", IEEE Transactions on Signal Processing, Vol. 62, No. 24, pp. 6454-6467, 2014.
      BibTeX
      • @Article{bernieeesp,
      • author = {Berntorp, Karl and Robertsson, Anders and Arzen, Karl-Erik},
      • title = {Rao-Blackwellized Particle Filters with Out-of-Sequence Measurement Processing},
      • journal = {IEEE Transactions on Signal Processing},
      • year = 2014,
      • volume = 62,
      • number = 24,
      • pages = {6454--6467}
      • }
    •  Berntorp, Karl, "Particle Filtering and Optimal Control for Vehicles and Robots", May 2014, Department of Automatic Control, Lund University, Sweden.
      BibTeX
      • @Phdthesis{berntorp2014phd,
      • author = {Berntorp, Karl},
      • title = {Particle Filtering and Optimal Control for Vehicles and Robots},
      • school = {Department of Automatic Control, Lund University, Sweden},
      • year = 2014,
      • month = may
      • }
    •  Berntorp, Karl; Olofsson, Bjorn; Lundahl, Kristoffer; Nielsen, Lars, "Models and methodology for optimal trajectory generation in safety-critical road–vehicle manoeuvres", Vehicle System Dynamics, Vol. 52, No. 10, pp. 1304-1332, 2014.
      BibTeX
      • @Article{bernvsd,
      • author = {Berntorp, Karl and Olofsson, Bjorn and Lundahl, Kristoffer and Nielsen, Lars},
      • title = {Models and methodology for optimal trajectory generation in safety-critical road–vehicle manoeuvres},
      • journal = {Vehicle System Dynamics},
      • year = 2014,
      • volume = 52,
      • number = 10,
      • pages = {1304--1332}
      • }
    •  Lundahl, Kristoffer; Olofsson, Bjorn; Berntorp, Karl; \AAslund, Jan; Nielsen, Lars, "Towards Lane-Keeping Electronic Stability Control for Road-Vehicles", 19th IFAC World Congress, August 2014.
      BibTeX
      • @Inproceedings{lundahl_etal2013ifacwc,
      • author = {Lundahl, Kristoffer and Olofsson, Bjorn and Berntorp, Karl and {\AA}slund, Jan and Nielsen, Lars},
      • title = {Towards Lane-Keeping Electronic Stability Control for Road-Vehicles},
      • booktitle = {19th IFAC World Congress},
      • year = 2014,
      • address = {Cape Town, South Africa},
      • month = aug
      • }
    •  Magnusson, Fredrik; Berntorp, Karl; Olofsson, Bjorn; \AAkesson, Johan, "Symbolic Transformations of Dynamic Optimization Problems", 10th International Modelica Conference, March 2014.
      BibTeX
      • @Inproceedings{magn_eal2014modelica,
      • author = {Magnusson, Fredrik and Berntorp, Karl and Olofsson, Bjorn and {\AA}kesson, Johan},
      • title = {Symbolic Transformations of Dynamic Optimization Problems},
      • booktitle = {10th International Modelica Conference},
      • year = 2014,
      • address = {Lund, Sweden},
      • month = mar
      • }
    •  Berntorp, Karl, "Derivation of a Six Degrees-of-Freedom Ground-Vehicle Model for Automotive Applications," Tech. Rep., Department of Automatic Control, Lund University, Sweden, February 2013.
      BibTeX
      • @Techreport{bern_7627,
      • author = {Berntorp, Karl},
      • title = {Derivation of a Six Degrees-of-Freedom Ground-Vehicle Model for Automotive Applications},
      • institution = {Department of Automatic Control, Lund University, Sweden},
      • year = 2013,
      • month = feb
      • }
    •  Nordh, Jerker; Berntorp, Karl, "pyParticleEst -- A Python Framework for Particle Based Estimation," Tech. Rep., Department of Automatic Control, Lund University, Sweden, March 2013.
      BibTeX
      • @Techreport{bern_7628,
      • author = {Nordh, Jerker and Berntorp, Karl},
      • title = {pyParticleEst -- A Python Framework for Particle Based Estimation},
      • institution = {Department of Automatic Control, Lund University, Sweden},
      • year = 2013,
      • month = mar
      • }
    •  Berntorp, Karl; Olofsson, Bjorn; Lundahl, Kristoffer; Bernhardsson, Bo; Nielsen, Lars, "Models and Methodology for Optimal Vehicle Maneuvers Applied to a Hairpin Turn", 2013 American Control Conference, June 2013.
      BibTeX
      • @Inproceedings{bern_etal2012acc,
      • author = {Berntorp, Karl and Olofsson, Bjorn and Lundahl, Kristoffer and Bernhardsson, Bo and Nielsen, Lars},
      • title = {Models and Methodology for Optimal Vehicle Maneuvers Applied to a Hairpin Turn},
      • booktitle = {2013 American Control Conference},
      • year = 2013,
      • address = {Washington, DC},
      • month = jun
      • }
    •  Berntorp, Karl; Robertsson, Anders; Arzen, Karl-Erik, "Rao-Blackwellized Out-of-Sequence Processing for Mixed Linear/Nonlinear State-Space Models", 16th International Conference on Information Fusion, July 2013.
      BibTeX
      • @Inproceedings{bern_etal2013fusion,
      • author = {Berntorp, Karl and Robertsson, Anders and Arzen, Karl-Erik},
      • title = {Rao-Blackwellized Out-of-Sequence Processing for Mixed Linear/Nonlinear State-Space Models},
      • booktitle = {16th International Conference on Information Fusion},
      • year = 2013,
      • address = {Istanbul, Turkey},
      • month = jul
      • }
    •  Lundahl, Kristoffer; Berntorp, Karl; Olofsson, Bjorn; \AAslund, Jan; Nielsen, Lars, "Studying the Influence of Roll and Pitch Dynamics in Optimal Road-Vehicle Maneuvers", 23rd International Symposium on Dynamics of Vehicles on Roads and Tracks, August 2013.
      BibTeX
      • @Inproceedings{lund_etal2013iavsd,
      • author = {Lundahl, Kristoffer and Berntorp, Karl and Olofsson, Bjorn and {\AA}slund, Jan and Nielsen, Lars},
      • title = {Studying the Influence of Roll and Pitch Dynamics in Optimal Road-Vehicle Maneuvers},
      • booktitle = {23rd International Symposium on Dynamics of Vehicles on Roads and Tracks},
      • year = 2013,
      • address = {Qingdao, China},
      • month = aug
      • }
    •  Olofsson, Bjorn; Lundahl, Kristoffer; Berntorp, Karl; Nielsen, Lars, "An Investigation of Optimal Vehicle Maneuvers for Different Road Conditions", 7th IFAC Symposium on Advances in Automotive Control, September 2013.
      BibTeX
      • @Inproceedings{olof_etal2013aac,
      • author = {Olofsson, Bjorn and Lundahl, Kristoffer and Berntorp, Karl and Nielsen, Lars},
      • title = {An Investigation of Optimal Vehicle Maneuvers for Different Road Conditions},
      • booktitle = {7th IFAC Symposium on Advances in Automotive Control},
      • year = 2013,
      • address = {Tokyo, Japan},
      • month = sep
      • }
    •  Berntorp, Karl; Arzen, Karl-Erik; Robertsson, Anders, "Storage Efficient Particle Filters with Multiple Out-of-Sequence Measurements", 15th International Conference on Information Fusion, July 2012.
      BibTeX
      • @Inproceedings{bern_etal2012fusion,
      • author = {Berntorp, Karl and Arzen, Karl-Erik and Robertsson, Anders},
      • title = {Storage Efficient Particle Filters with Multiple Out-of-Sequence Measurements},
      • booktitle = {15th International Conference on Information Fusion},
      • year = 2012,
      • address = {Singapore},
      • month = jul
      • }
    •  Berntorp, Karl; Arzen, Karl-Erik; Robertsson, Anders, "Mobile Manipulation with a Kinematically Redundant Manipulator for a Pick-and-Place Scenario", 2012 IEEE Multi-Conference on Systems and Control, October 2012.
      BibTeX
      • @Inproceedings{bern_etal2012ieeemsc,
      • author = {Berntorp, Karl and Arzen, Karl-Erik and Robertsson, Anders},
      • title = {Mobile Manipulation with a Kinematically Redundant Manipulator for a Pick-and-Place Scenario},
      • booktitle = {2012 IEEE Multi-Conference on Systems and Control},
      • year = 2012,
      • address = {Dubrovnik, Croatia},
      • month = oct
      • }
    •  Nordh, Jerker; Berntorp, Karl, "Extending the Occupancy Grid Concept for Low-Cost Sensor Based SLAM", 10th International IFAC Symposium on Robot Control, September 2012.
      BibTeX
      • @Inproceedings{nordh_bern2012SYROCO,
      • author = {Nordh, Jerker and Berntorp, Karl},
      • title = {Extending the Occupancy Grid Concept for Low-Cost Sensor Based SLAM},
      • booktitle = {10th International IFAC Symposium on Robot Control},
      • year = 2012,
      • address = {Dubrovnik, Croatia},
      • month = sep
      • }
    •  Berntorp, Karl; Arzen, Karl-Erik; Robertsson, Anders, "Sensor Fusion for Motion Estimation of Mobile Robots with Compensation for Out-of-Sequence Measurements", 11th International Conference on Control, Automation and Systems, October 2011.
      BibTeX
      • @Inproceedings{bern_etal2011ccas,
      • author = {Berntorp, Karl and Arzen, Karl-Erik and Robertsson, Anders},
      • title = {Sensor Fusion for Motion Estimation of Mobile Robots with Compensation for Out-of-Sequence Measurements},
      • booktitle = {11th International Conference on Control, Automation and Systems},
      • year = 2011,
      • address = {Gyeonggi-do, Korea},
      • month = oct
      • }
    •  Berntorp, Karl, "ESP for Suppression of Jackknifing in an Articulated Bus," Tech. Rep., Department of Automatic Control, Lund University, Sweden, December 2008.
      BibTeX
      • @Techreport{bern_5831,
      • author = {Berntorp, Karl},
      • title = {ESP for Suppression of Jackknifing in an Articulated Bus},
      • institution = {Department of Automatic Control, Lund University, Sweden},
      • year = 2008,
      • month = dec
      • }
  • Videos

  • MERL Issued Patents

    • Title: "System and Method for Controlling Autonomous or Semi-Autonomous Vehicle"
      Inventors: Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 9,568,915
      Issue Date: Feb 14, 2017
    See All Patents for MERL