People - Karl Berntorp | Mitsubishi Electric Research Laboratories

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.
Recent News & Events
- NEWS MERL researchers presented 8 papers at Conference on Decision and Control (CDC)
  Date: December 11, 2019 - December 13, 2019
  Where: Nice, France
  MERL Contacts: Mouhacine Benosman; Karl Berntorp; Scott Bortoff; Ankush Chakrabarty; Claus Danielson; Stefano Di Cairano; Uroš Kalabić; Jing Zhang
  Research Areas: Control, Machine Learning, Optimization
  Brief
  - At the Conference on Decision and Control, MERL presented 8 papers on subjects including estimation for thermal-fluid models and transportation networks, analysis of HVAC systems, extremum seeking for multi-agent systems, reinforcement learning for vehicle platoons, and learning with applications to autonomous vehicles.
- NEWS MERL researchers presented 8 papers at American Control Conference
  Date: July 10, 2019 - July 12, 2019
  Where: Philadelphia
  MERL Contacts: Mouhacine Benosman; Karl Berntorp; Ankush Chakrabarty; Claus Danielson; Stefano Di Cairano; Devesh Jha; Rien Quirynen; Yebin Wang; Avishai Weiss
  Research Areas: Control, Machine Learning, Optimization
  Brief
  - At the American Control Conference, MERL presented 8 papers on subjects including model predictive control applications, estimation and motion planning for vehicles, modular control architectures, and adaptation and learning.
See All News & Events for Karl
Internships with Karl
- CD1391: Algorithms for GNSS localization
  
  The Control and Dynamical Systems (CD) group at MERL is seeking a highly motivated intern to work on GNSS Positioning and localization. Previous experience with at least some of the GNSSs, particle filtering, interacting multiple model filtering, Kalman-type filtering, and ambiguity resolution is highly desirable. Working knowledge of C/C++ is required, and previous experience with GNSS packages such as RTKLib is highly desired. PhD candidates meeting the above requirements are welcome to apply. The expected duration of the internship is 3-6 months with flexible start date.
- CD1392: Statistical Estimation, Learning, and Control of Dynamical Systems
  
  The Control and Dynamical Systems (CD) group at MERL is seeking a highly motivated intern to conduct fundamental research on statistical estimation and control. The scope of the internship includes development of algorithms and property proving for estimation and control of stochastic dynamical systems. PhD students with expertise in several of sequential Monte Carlo methods, Gaussian processes, Gaussian-process state-space models, model predictive control, are welcome to apply. The candidate is expected to be proficient in Matlab, and publication of the results produced during the internship is expected. The internship duration is 3 months with flexible start date.
See All Internships at MERL
MERL Publications
- Berntorp, K., Quirynen, R., Uno, T., Di Cairano, S., "Trajectory Tracking for Autonomous Vehicles on Varying Road Surfaces by Friction-Adaptive Nonlinear Model Predictive Control", Journal of Vehicle Systems Dynamics, January 2020.
  BibTeX Download PDFAbout TR2020-005
  - @article{Berntorp2020jan,
  - author = {Berntorp, Karl and Quirynen, Rien and Uno, Tomoki and Di Cairano, Stefano},
  - title = {Trajectory Tracking for Autonomous Vehicles on Varying Road Surfaces by Friction-Adaptive Nonlinear Model Predictive Control},
  - journal = {Journal of Vehicle Systems Dynamics},
  - year = 2020,
  - month = jan,
  - url = {https://www.merl.com/publications/TR2020-005}
  - }
- Menner, M., Berntorp, K., Di Cairano, S., "Inverse Learning for Human-Adaptive Motion Planning", IEEE Conference on Decision and Control (CDC), December 2019.
  BibTeX Download PDFAbout TR2019-146
  - @inproceedings{Menner2019dec,
  - author = {Menner, Marcel and Berntorp, Karl and Di Cairano, Stefano},
  - title = {Inverse Learning for Human-Adaptive Motion Planning},
  - booktitle = {IEEE Conference on Decision and Control (CDC)},
  - year = 2019,
  - month = dec,
  - url = {https://www.merl.com/publications/TR2019-146}
  - }
- Berntorp, K., Hiroaki, K., "Bayesian Learning of Tire Friction with Automotive-Grade Sensors by Gaussian-Process State-Space Models", IEEE Conference on Decision and Control (CDC), December 2019.
  BibTeX Download PDFAbout TR2019-145
  - @inproceedings{Berntorp2019dec,
  - author = {Berntorp, Karl and Hiroaki, Kitano},
  - title = {Bayesian Learning of Tire Friction with Automotive-Grade Sensors by Gaussian-Process State-Space Models},
  - booktitle = {IEEE Conference on Decision and Control (CDC)},
  - year = 2019,
  - month = dec,
  - url = {https://www.merl.com/publications/TR2019-145}
  - }
- Berntorp, K., Danielson, C., Weiss, A., Di Cairano, S., Erliksson, K., Bai, R., "Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control", Transactions on intelligent vehicles, DOI: 10.1109/TIV.2019.2955371, Vol. 5, No. 1, pp. 112-126, August 2019.
  BibTeX Download PDFAbout TR2019-086
  - @article{Berntorp2019aug,
  - author = {Berntorp, Karl and Danielson, Claus and Weiss, Avishai and Di Cairano, Stefano and Erliksson, Karl and Bai, Richard},
  - title = {Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control},
  - journal = {Transactions on intelligent vehicles},
  - year = 2019,
  - volume = 5,
  - number = 1,
  - pages = {112--126},
  - month = aug,
  - doi = {10.1109/TIV.2019.2955371},
  - url = {https://www.merl.com/publications/TR2019-086}
  - }
- Berntorp, K., Inani, P., Quirynen, R., Di Cairano, S., "Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation", American Control Conference (ACC), DOI: 10.23919/ACC.2019.8815309, July 2019, pp. 1382-1387.
  BibTeX Download PDFAbout TR2019-062
  - @inproceedings{Berntorp2019jul2,
  - author = {Berntorp, Karl and Inani, Pranav and Quirynen, Rien and Di Cairano, Stefano},
  - title = {Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation},
  - booktitle = {American Control Conference (ACC)},
  - year = 2019,
  - pages = {1382--1387},
  - month = jul,
  - publisher = {IEEE},
  - doi = {10.23919/ACC.2019.8815309},
  - url = {https://www.merl.com/publications/TR2019-062}
  - }
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
  - }
- Bjorn Olofsson, Karl Berntorp and Anders Robertsson, "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
  - }
- Karl Berntorp, "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
  - }
- Karl Berntorp and Fredrik Magnusson, "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
  - }
- Karl Berntorp, Bjorn Olofsson and Anders Robertsson, "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
  - }
- Karl Berntorp and Jerker Nordh, "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
  - }
- Karl Berntorp, Anders Robertsson and Karl-Erik Arzen, "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}
  - }
- Karl Berntorp, "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
  - }
- Karl Berntorp, Bjorn Olofsson, Kristoffer Lundahl and Lars Nielsen, "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}
  - }
- Kristoffer Lundahl, Bjorn Olofsson, Karl Berntorp, Jan Aslund and Lars Nielsen, "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
  - }
- Fredrik Magnusson, Karl Berntorp, Bjorn Olofsson and Johan Akesson, "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
  - }
- Karl Berntorp, "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
  - }
- Jerker Nordh and Karl Berntorp, "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
  - }
- Karl Berntorp, Bjorn Olofsson, Kristoffer Lundahl, Bo Bernhardsson and Lars Nielsen, "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
  - }
- Karl Berntorp, Anders Robertsson and Karl-Erik Arzen, "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
  - }
- Kristoffer Lundahl, Karl Berntorp, Bjorn Olofsson, Jan Aslund and Lars Nielsen, "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
  - }
- Bjorn Olofsson, Kristoffer Lundahl, Karl Berntorp and Lars Nielsen, "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
  - }
- Karl Berntorp, Karl-Erik Arzen and Anders Robertsson, "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
  - }
- Karl Berntorp, Karl-Erik Arzen and Anders Robertsson, "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
  - }
- Jerker Nordh and Karl Berntorp, "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
  - }
- Karl Berntorp, Karl-Erik Arzen and Anders Robertsson, "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
  - }
- Karl Berntorp, "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 a Vehicle Under Sensor Uncertainty"
  Inventors: Berntorp, Karl; Di Cairano, Stefano
  Patent No.: 10,408,638
  Issue Date: Sep 10, 2019
- Title: "System and Method for Determining State of Stiffness of Tires of Vehicle"
  Inventors: Berntorp, Karl; Di Cairano, Stefano
  Patent No.: 10,370,004
  Issue Date: Aug 6, 2019
- Title: "System and Method for Controlling Motion of Vehicle in Shared Environment"
  Inventors: Berntorp, Karl; Okamoto, Kazuhide; Di Cairano, Stefano
  Patent No.: 10,324,469
  Issue Date: Jun 18, 2019
- Title: "System and Method for Calibrating Parameters of Tires"
  Inventors: Berntorp, Karl; Di Cairano, Stefano
  Patent No.: 10,093,321
  Issue Date: Oct 9, 2018
- Title: "Methods and Systems for Path Planning Using a Network of Safe-Sets"
  Inventors: Danielson, Claus; Weiss, Avishai; Berntorp, Karl; Di Cairano, Stefano
  Patent No.: 10,012,988
  Issue Date: Jul 3, 2018
- Title: "System and Method for Controlling Vehicle"
  Inventors: Berntorp, Karl; Arslan, Oktay
  Patent No.: 10,012,984
  Issue Date: Jul 3, 2018
- Title: "System and Method for Determining State of Stiffness of Tires of Vehicle"
  Inventors: Berntorp, Karl; Di Cairano, Stefano
  Patent No.: 10,011,284
  Issue Date: Jul 3, 2018
- Title: "System and Method for Controlling Vehicle using Neural Network"
  Inventors: Berntorp, Karl; Liu, Ming-Yu; Weiss, Avishai
  Patent No.: 9,989,964
  Issue Date: Jun 5, 2018
- Title: "System and Method for Controlling Motion of Vehicle"
  Inventors: Di Cairano, Stefano; Kalabic, Uros; Berntorp, Karl
  Patent No.: 9,915,948
  Issue Date: Mar 13, 2018
- 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

Mitsubishi Electric | Changes for the Better MERL - Mitsubishi Electric Research Laboratories

Karl Berntorp

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Karl's Quick Links

Biography

Recent News & Events

Internships with Karl

CD1391: Algorithms for GNSS localization

CD1392: Statistical Estimation, Learning, and Control of Dynamical Systems

MERL Publications

Other Publications

Videos

MERL Issued Patents

CD1391: Algorithms for GNSS localization

CD1392: Statistical Estimation, Learning, and Control of Dynamical Systems

MERL Celebrates 25 Years of Innovation

MERL Research on Autonomous Vehicles

MPC control and particle filter-based planning demonstration using mini-cars

Particle filter-based planning demonstration using mini-cars

Car Path Planning

Experimental Validation of Reachability-based Decision Making for Autonomous Driving