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 Rien Quirynen and Karl Berntorp to deliver keynote at IFAC NMPC 2021 Conference
  Date: July 12, 2021
  MERL Contacts: Karl Berntorp; Rien Quirynen
  Research Areas: Control, Dynamical Systems, Optimization
  Brief
  - MERL researcher Rien Quirynen will present work in collaboration with Karl Berntorp on "Uncertainty Propagation by Linear Regression Kalman Filters for Stochastic Nonlinear MPC" as a keynote speaker at the 7th IFAC Conference on Nonlinear Model Predictive Control 2021 on July, 12th. The paper is 1 out of 5 keynote presentations chosen among more than 50 accepted papers at the conference. An abstract of the talk can be found in the link below.
- NEWS Karl Berntorp gave an invited lecture at University of Houston
  Date: April 22, 2021
  Where: Houston, Texas
  MERL Contact: Karl Berntorp
  Research Areas: Control, Dynamical Systems, Robotics, Signal Processing
  Brief
  - The invited seminar "System Design, Planning, and Control for Autonomous Driving" was part of the Distinguished Seminar series at the Department of Mechanical Engineering at the University of Houston, Houston, Tx. The invited lecture described MERL research related to the different system components involved in autonomous driving, with particular focus on motion-planning and predictive-control methods.
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 Contact: Karl Berntorp
  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
- CA1519: Estimation for High-Precision Positioning
  
  MERL is seeking a highly motivated candidate for development of next-generation high-precision positioning methods for autonomous systems applications, e.g., autonomous driving. The candidate will work with the Control for Autonomy team and the Signal Processing group in developing satellite-based positioning methods using information from multiple sources. Previous experience with at least some of the Bayesian inference, distributed estimation, satellite navigation systems, is highly desirable. Solid knowledge in MATLAB is required, working experience in C/C++ is desired, and previous experience with satellite navigation packages such as RTKLib is a merit. PhD candidates meeting the above requirements are encouraged to apply. The expected duration of the internship is 3-6 months with flexible start date. This internship is preferred to be onsite at MERL, but may be done remotely where you live if the COVID pandemic makes it necessary.
See All Internships at MERL
MERL Publications
- Quirynen, R., Berntorp, K., "Uncertainty Propagation by Linear Regression Kalman Filters for Stochastic NMPC", IFAC Conference on Nonlinear Model Predictive Control, July 2021.
  BibTeX TR2021-084 PDF
  - @inproceedings{Quirynen2021jul,
  - author = {Quirynen, Rien and Berntorp, Karl},
  - title = {Uncertainty Propagation by Linear Regression Kalman Filters for Stochastic NMPC},
  - booktitle = {IFAC Conference on Nonlinear Model Predictive Control},
  - year = 2021,
  - month = jul,
  - url = {https://www.merl.com/publications/TR2021-084}
  - }
- Yao, G., Wang, P., Berntorp, K., Mansour, H., Boufounos, P.T., Orlik, P.V., "Extended Object Tracking with Automotive Radar Using B-Spline Chained Ellipses Model", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), DOI: 10.1109/ICASSP39728.2021.9415080, June 2021, pp. 8408-8412.
  BibTeX TR2021-048 PDF
  - @inproceedings{Yao2021jun,
  - author = {Yao, Gang and Wang, Perry and Berntorp, Karl and Mansour, Hassan and Boufounos, Petros T. and Orlik, Philip V.},
  - title = {Extended Object Tracking with Automotive Radar Using B-Spline Chained Ellipses Model},
  - booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
  - year = 2021,
  - pages = {8408--8412},
  - month = jun,
  - publisher = {IEEE},
  - doi = {10.1109/ICASSP39728.2021.9415080},
  - issn = {2379-190X},
  - isbn = {978-1-7281-7605-5},
  - url = {https://www.merl.com/publications/TR2021-048}
  - }
- Berntorp, K., Quirynen, R., Vaskov, S., "Joint Tire-Stiffness and Vehicle-Inertial Parameter Estimation for Improved Predictive Control", American Control Conference, May 2021.
  BibTeX TR2021-060 PDF
  - @inproceedings{Berntorp2021may2,
  - author = {Berntorp, Karl and Quirynen, Rien and Vaskov, Sean},
  - title = {Joint Tire-Stiffness and Vehicle-Inertial Parameter Estimation for Improved Predictive Control},
  - booktitle = {American Control Conference},
  - year = 2021,
  - month = may,
  - url = {https://www.merl.com/publications/TR2021-060}
  - }
- Vaskov, S., Quirynen, R., Berntorp, K., "Cornering Stiffness Adaptive, Stochastic Nonlinear Model Predictive Control for Vehicles", American Control Conference (ACC), May 2021.
  BibTeX TR2021-056 PDF
  - @inproceedings{Vaskov2021may,
  - author = {Vaskov, Sean and Quirynen, Rien and Berntorp, Karl},
  - title = {Cornering Stiffness Adaptive, Stochastic Nonlinear Model Predictive Control for Vehicles},
  - booktitle = {American Control Conference (ACC)},
  - year = 2021,
  - month = may,
  - url = {https://www.merl.com/publications/TR2021-056}
  - }
- Berntorp, K., Chakrabarty, A., Di Cairano, S., "Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter", American Control Conference (ACC), May 2021.
  BibTeX TR2021-058 PDF
  - @inproceedings{Berntorp2021may,
  - author = {Berntorp, Karl and Chakrabarty, Ankush and Di Cairano, Stefano},
  - title = {Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter},
  - booktitle = {American Control Conference (ACC)},
  - year = 2021,
  - month = may,
  - url = {https://www.merl.com/publications/TR2021-058}
  - }
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 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 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

Awards

Internships with Karl

CA1519: Estimation for High-Precision Positioning

MERL Publications

Other Publications

Videos

MERL Issued Patents

CA1519: Estimation for High-Precision Positioning

Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving

Experimental Validation of Reachability-based Decision Making for Autonomous Driving

Particle filter-based planning demonstration using mini-cars

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

MERL Celebrates 25 Years of Innovation

Car Path Planning

MERL Research on Autonomous Vehicles