Karl Berntorp
- Phone: 617-621-7583
- Email:
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Position:
Research / Technical Staff
Principal Research Scientist -
Education:
Ph.D., Lund University, 2014 -
Research Areas:
External Links:
Karl's Quick Links
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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.
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Recent News & Events
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NEWS MERL researchers presented 10 papers at American Control Conference (ACC) Date: July 1, 2020 - July 3, 2020
Where: Denver, Colorado (virtual)
MERL Contacts: Mouhacine Benosman; Karl Berntorp; Ankush Chakrabarty; Stefano Di Cairano; Saleh Nabi; Rien Quirynen; Yebin Wang; Avishai Weiss
Research Areas: Control, Machine Learning, OptimizationBrief- At the American Control Conference, MERL presented 10 papers on subjects including autonomous-vehicle decision making and motion planning, nonlinear estimation for thermal-fluid models and GNSS positioning, learning-based reference governors and reference governors for railway vehicles, and fail-safe rendezvous control.
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NEWS MERL presenting 13 papers and an industry talk at ICASSP 2020 Date: May 4, 2020 - May 8, 2020
Where: Virtual Barcelona
MERL Contacts: Karl Berntorp; Petros Boufounos; Chiori Hori; Takaaki Hori; Toshiaki Koike-Akino; Jonathan Le Roux; Dehong Liu; Yanting Ma; Hassan Mansour; Niko Moritz; Philip Orlik; Anthony Vetro; Pu (Perry) Wang; Gordon Wichern; Siheng Chen
Research Areas: Computational Sensing, Computer Vision, Machine Learning, Signal Processing, Speech & AudioBrief- MERL researchers are presenting 13 papers at the IEEE International Conference on Acoustics, Speech & Signal Processing (ICASSP), which is being held virtually from May 4-8, 2020. Petros Boufounos is also presenting a talk on the Computational Sensing Revolution in Array Processing (video) in ICASSP’s Industry Track, and Siheng Chen is co-organizing and chairing a special session on a Signal-Processing View of Graph Neural Networks.
Topics to be presented include recent advances in speech recognition, audio processing, scene understanding, computational sensing, array processing, and parameter estimation. Videos for all talks are available on MERL's YouTube channel, with corresponding links in the references below.
This year again, MERL is a sponsor of the conference and will be participating in the Student Job Fair; please join us to learn about our internship program and career opportunities.
ICASSP is the flagship conference of the IEEE Signal Processing Society, and the world's largest and most comprehensive technical conference focused on the research advances and latest technological development in signal and information processing. The event attracts more than 2000 participants each year. Originally planned to be held in Barcelona, Spain, ICASSP has moved to a fully virtual setting due to the COVID-19 crisis, with free registration for participants not covering a paper.
- MERL researchers are presenting 13 papers at the IEEE International Conference on Acoustics, Speech & Signal Processing (ICASSP), which is being held virtually from May 4-8, 2020. Petros Boufounos is also presenting a talk on the Computational Sensing Revolution in Array Processing (video) in ICASSP’s Industry Track, and Siheng Chen is co-organizing and chairing a special session on a Signal-Processing View of Graph Neural Networks.
See All News & Events for Karl -
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MERL Publications
- , "Inverse Learning for Data-driven Calibration of Model-based Statistical Path Planning", Transactions on Intelligent Vehicles, July 2020.BibTeX TR2020-106 PDF
- @article{Menner2020jul,
- author = {Menner, Marcel and Berntorp, Karl and Di Cairano, Stefano},
- title = {Inverse Learning for Data-driven Calibration of Model-based Statistical Path Planning},
- journal = {Transactions on Intelligent Vehicles},
- year = 2020,
- month = jul,
- url = {https://www.merl.com/publications/TR2020-106}
- }
- , "Online Bayesian Tire-Friction Learning by Gaussian-Process State-Space Models", World Congress of the International Federation of Automatic Control (IFAC), July 2020.BibTeX TR2020-104 PDF
- @inproceedings{Berntorp2020jul,
- author = {Berntorp, Karl},
- title = {Online Bayesian Tire-Friction Learning by Gaussian-Process State-Space Models},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2020,
- month = jul,
- url = {https://www.merl.com/publications/TR2020-104}
- }
- , "Optimal Measurement Projections with Adaptive Mixture Kalman Filtering for GNSS Positioning", American Control Conference (ACC), July 2020.BibTeX TR2020-097 PDF
- @inproceedings{Greiff2020jul,
- author = {Greiff, Marcus and Berntorp, Karl},
- title = {Optimal Measurement Projections with Adaptive Mixture Kalman Filtering for GNSS Positioning},
- booktitle = {American Control Conference (ACC)},
- year = 2020,
- month = jul,
- url = {https://www.merl.com/publications/TR2020-097}
- }
- , "Learning-based Parameter-Adaptive Reference Governors", American Control Conference (ACC), July 2020.BibTeX TR2020-092 PDF
- @inproceedings{Chakrabarty2020jul,
- author = {Chakrabarty, Ankush and Berntorp, Karl and Di Cairano, Stefano},
- title = {Learning-based Parameter-Adaptive Reference Governors},
- booktitle = {American Control Conference (ACC)},
- year = 2020,
- month = jul,
- url = {https://www.merl.com/publications/TR2020-092}
- }
- , "Integrated Obstacle Detection and Avoidance in Motion Planning and Predictive Control of Autonomous Vehicles", American Control Conference (ACC), July 2020.BibTeX TR2020-096 PDF
- @inproceedings{Quirynen2020jul,
- author = {Quirynen, Rien and Berntorp, Karl and Kambam, Karthik and Di Cairano, Stefano},
- title = {Integrated Obstacle Detection and Avoidance in Motion Planning and Predictive Control of Autonomous Vehicles},
- booktitle = {American Control Conference (ACC)},
- year = 2020,
- month = jul,
- url = {https://www.merl.com/publications/TR2020-096}
- }
- , "Inverse Learning for Data-driven Calibration of Model-based Statistical Path Planning", Transactions on Intelligent Vehicles, July 2020.
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Other Publications
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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}
- }
- , "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
- }
- , "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}
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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
- }
- , "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.
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Videos
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MERL Celebrates 25 Years of Innovation
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MERL Research on Autonomous Vehicles
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MPC control and particle filter-based planning demonstration using mini-cars
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Particle filter-based planning demonstration using mini-cars
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Car Path Planning
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Experimental Validation of Reachability-based Decision Making for Autonomous Driving
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MERL Issued Patents
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Title: "Systems and Methods for Intention-Based Steering of Vehicle"
Inventors: Kalabic, Uros; Berntorp, Karl; Di Cairano, Stefano
Patent No.: 10,589,784
Issue Date: Mar 17, 2020 -
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
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Title: "Systems and Methods for Intention-Based Steering of Vehicle"