People - Karl Berntorp | Mitsubishi Electric Research Laboratories

Biography

Karl's research interests include statistical signal processing, Bayesian inference and learning, sensor fusion, and optimization-based control, with applications to automotive, transportation, navigation, positioning, and communication systems. Karl is an Associate Editor and member of the IEEE Technology Conferences Editorial Board.
Recent News & Events
- NEWS MERL researchers present 10 papers at the American Control Conference (ACC)
  Date: May 31, 2023 - June 2, 2023
  Where: San Diego, CA
  MERL Contacts: Karl Berntorp; Ankush Chakrabarty; Vedang M. Deshpande; Stefano Di Cairano; Marcus Greiff; Devesh K. Jha; Christopher R. Laughman; Marcel Menner; Rien Quirynen; Arvind Raghunathan; Diego Romeres; Abraham P. Vinod; Yebin Wang; Avishai Weiss
  Research Areas: Control, Machine Learning, Optimization
  Brief
  - MERL will present 10 papers at the American Control Conference (ACC) in San Diego, CA, with topics including autonomous-vehicle decision making and control, physics-informed machine learning, motion planning, control subject to nonconvex chance constraints, and optimal power management. Two talks are part of tutorial sessions.
    MERL will also be present at the conference as a sponsor, with a booth for discussing with researchers and students, and hosting a special session at lunch with highlights of MERL research and work philosophy.
- NEWS MERL Researchers Presented Six Papers at the 2022 IEEE Conference on Decision and Control (CDC’22)
  Date: December 6, 2022 - December 9, 2022
  Where: Cancún, Mexico
  MERL Contacts: Mouhacine Benosman; Karl Berntorp; Ankush Chakrabarty; Marcus Greiff; Devesh K. Jha; Arvind Raghunathan; Diego Romeres; Yebin Wang
  Research Areas: Control, Optimization
  Brief
  - MERL researchers presented six papers at the Conference on Decision and Control that was held in Cancún, Mexico from December 6-9, 2022. The papers covered a broad range of topics in the areas of decision making and control, including Bayesian optimization, quadratic programming, solution of differential equations, distributed Kalman filtering, thermal monitoring of batteries, and closed-loop control optimization.
See All News & Events for Karl
Awards
- AWARD Best Student Paper Award at the IEEE Conference on Control Technology and Applications
  Date: August 26, 2020
  Awarded to: Marcus Greiff, Anders Robertsson, Karl Berntorp
  MERL Contacts: Karl Berntorp; Marcus Greiff
  Research Areas: Control, Signal Processing
  Brief
  - Marcus Greiff, a former MERL intern from the Department of Automatic Control, Lund University, Sweden, won one of three 2020 CCTA Outstanding Student Paper Awards and the Best Student Paper Award at the 2020 IEEE Conference on Control Technology and Applications. The research leading up to the awarded paper titled 'MSE-Optimal Measurement Dimension Reduction in Gaussian Filtering', concerned how to select a reduced set of measurements in estimation applications while minimally degrading performance, was done in collaboration with Karl Berntorp at MERL.
See All Awards for MERL
Internships with Karl
- CA1944: Vehicle Estimation and Learning
  
  MERL is seeking a highly motivated and qualified intern to collaborate with the Control for Autonomy team in research on GNSS-based estimation and sensor fusion algorithms. The ideal candidate is expected to be working towards a PhD with strong emphasis in statistical signal processing and estimation, and with experience in at least some of the following areas: application and theory of Bayesian inference, learning, Kalman filters, variational Bayes, automotive, autonomous vehicles, distributed estimation, large-scale estimation, sensor fusion including camera radar and/or GNSS. Good programming skills in MATLAB, Python, or C/C++ are required. The expected duration of the internship is 3-6 months.
See All Internships at MERL
MERL Publications
- Vaskov, S., Quirynen, R., Menner, M., Berntorp, K., "Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles", Vehicle System Dynamics, May 2023.
  BibTeX TR2023-064 PDF
  - @article{Vaskov2023may2,
  - author = {Vaskov, Sean and Quirynen, Rien and Menner, Marcel and Berntorp, Karl},
  - title = {Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles},
  - journal = {Vehicle System Dynamics},
  - year = 2023,
  - month = may,
  - url = {https://www.merl.com/publications/TR2023-064}
  - }
- You, S., Greiff, M., Quirynen, R., Ran, S., Wang, Y., Berntorp, K., Dai, R., Di Cairano, S., "Integral Action NMPC for Tight Maneuvers of Articulated Vehicles", American Control Conference (ACC), May 2023.
  BibTeX TR2023-058 PDF
  - @inproceedings{You2023may,
  - author = {You, Sixiong and Greiff, Marcus and Quirynen, Rien and Ran, Shuangxuan and Wang, Yebin and Berntorp, Karl and Dai, Ran and Di Cairano, Stefano},
  - title = {Integral Action NMPC for Tight Maneuvers of Articulated Vehicles},
  - booktitle = {American Control Conference (ACC)},
  - year = 2023,
  - month = may,
  - url = {https://www.merl.com/publications/TR2023-058}
  - }
- Menner, M., Berntorp, K., "Gaussian Processes with State-Dependent Noise for Stochastic Control", arXiv, May 2023.
  BibTeX arXiv
  - @article{Menner2023may,
  - author = {Menner, Marcel and Berntorp, Karl},
  - title = {Gaussian Processes with State-Dependent Noise for Stochastic Control},
  - journal = {arXiv},
  - year = 2023,
  - month = may,
  - url = {https://arxiv.org/abs/2305.16229}
  - }
- Menner, M., Berntorp, K., Di Cairano, S., "Automated Controller Calibration by Kalman Filtering", IEEE Transactions on Control Systems Technology, April 2023.
  BibTeX TR2023-022 PDF
  - @article{Menner2023apr,
  - author = {Menner, Marcel and Berntorp, Karl and Di Cairano, Stefano},
  - title = {Automated Controller Calibration by Kalman Filtering},
  - journal = {IEEE Transactions on Control Systems Technology},
  - year = 2023,
  - month = apr,
  - url = {https://www.merl.com/publications/TR2023-022}
  - }
- Chakrabarty, A., Berntorp, K., Di Cairano, S., "Parameter-Adaptive Reference Governors with Learned Robust Constraint-Admissible Sets", Control Engineering Practice, DOI: 10.1016/j.conengprac.2023.105450, Vol. 133, February 2023.
  BibTeX TR2023-005 PDF
  - @article{Chakrabarty2023feb,
  - author = {Chakrabarty, Ankush and Berntorp, Karl and Di Cairano, Stefano},
  - title = {Parameter-Adaptive Reference Governors with Learned Robust Constraint-Admissible Sets},
  - journal = {Control Engineering Practice},
  - year = 2023,
  - volume = 133,
  - month = feb,
  - doi = {10.1016/j.conengprac.2023.105450},
  - url = {https://www.merl.com/publications/TR2023-005}
  - }
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
  - }
- 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
  - }
- 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 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
  - }
- 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
  - }
- 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, "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
  - }
- 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, 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, 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}
  - }
- 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
  - }
- 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
  - }
- 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
  - }
- 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
  - }
- 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, "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
  - }
- 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, "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, "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: "Probabilistic state tracking with multi-head measurement model"
  Inventors: Berntorp, Karl; Greiff, Marcus; Di Cairano, Stefano; Kim, Kyeong-Jin
  Patent No.: 11,644,579
  Issue Date: May 9, 2023
- Title: "System and Method for Tracking Expanded State of an Object"
  Inventors: Wang, Pu; Xia, Yuxuan; Berntorp, Karl; Koike-Akino, Toshiaki; Mansour, Hassan; Boufounos, Petros T.; Orlik, Philip V.
  Patent No.: 11,619,494
  Issue Date: Apr 4, 2023
- Title: "System and Method for Determining Friction Curve of Tire"
  Inventors: Berntorp, Karl
  Patent No.: 11,597,364
  Issue Date: Mar 7, 2023
- Title: "Model-Based Control Under Uncertainty"
  Inventors: Berntorp, Karl; Di Cairano, Stefano
  Patent No.: 11,501,193
  Issue Date: Nov 15, 2022
- Title: "Model-Based Control with Uncertain Motion Model"
  Inventors: Berntorp, Karl
  Patent No.: 11,474,486
  Issue Date: Oct 18, 2022
- Title: "System and Method for GNSS Ambiguity Resolution"
  Inventors: Berntorp, Karl; Greiff, Marcus
  Patent No.: 11,474,263
  Issue Date: Oct 18, 2022
- Title: "System and Method for Integer-Less GNSS Positioning"
  Inventors: Berntorp, Karl; Greiff, Marcus
  Patent No.: 11,340,356
  Issue Date: May 24, 2022
- Title: "Adaptive Control of Autonomous or Semi-Autonomous Vehicle"
  Inventors: Berntorp, Karl; Di Cairano, Stefano; Menner, Marcel
  Patent No.: 11,327,492
  Issue Date: May 10, 2022
- Title: "Friction Adaptive Vehicle Control"
  Inventors: Berntorp, Karl; Quirynen, Rien; Di Cairano, Stefano
  Patent No.: 11,254,315
  Issue Date: Feb 22, 2022
- Title: "System and Method for Determining Friction Curve of Tire"
  Inventors: Berntorp, Karl
  Patent No.: 11,203,354
  Issue Date: Dec 21, 2021
- Title: "System and Method for Controlling Motion of Vehicle with Variable Speed"
  Inventors: Berntorp, Karl; Danielson, Claus; Weiss, Avishai; Di Cairano, Stefano
  Patent No.: 11,091,158
  Issue Date: Aug 17, 2021
- Title: "System and Method for Controlling Lateral Motion of Vehicle"
  Inventors: Berntorp, Karl; Weiss, Avishai; Danielson, Claus; Di Cairano, Stefano
  Patent No.: 10,994,729
  Issue Date: May 4, 2021
- Title: "System and Method for GNSS Ambiguity Resolution"
  Inventors: Berntorp, Karl; Weiss, Avishai; Di Cairano, Stefano
  Patent No.: 10,976,444
  Issue Date: Apr 13, 2021
- Title: "Systems and Methods for Safe Decision Making of Autonomous Vehicles"
  Inventors: Berntorp, Karl; Di Cairano, Stefano; Ahn, Heejin
  Patent No.: 10,860,023
  Issue Date: Dec 8, 2020
- 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 AUTONOMOUS VEHICLES"
  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

Position:

Education:

Research Areas:

External Links:

Karl's Quick Links

Biography

Recent News & Events

Awards

Internships with Karl

CA1944: Vehicle Estimation and Learning

MERL Publications

Other Publications

Videos

MERL Issued Patents

CA1944: Vehicle Estimation and Learning

Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving

Experimental Validation of Reachability-based Decision Making for Autonomous Driving

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

Particle filter-based planning demonstration using mini-cars

MERL Celebrates 25 Years of Innovation

Car Path Planning

MERL Research on Autonomous Vehicles