Karl Berntorp

- Phone: 617-621-7583
- Email:
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Position:
Research / Technical Staff
Senior Principal Research Scientist,
Team Leader -
Education:
Ph.D., Lund University, 2014 -
Research Areas:
External Links:
Karl's Quick Links
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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.
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Recent News & Events
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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, OptimizationBrief- 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.
- 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.
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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, OptimizationBrief- 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 -
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Awards
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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 ProcessingBrief- 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.
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Internships with Karl
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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.
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MERL Publications
- "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}
- }
, - "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}
- }
, - "Gaussian Processes with State-Dependent Noise for Stochastic Control", arXiv, May 2023. ,
- "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}
- }
, - "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}
- }
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- "Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles", Vehicle System Dynamics, May 2023.
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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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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}
- }
, - "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}
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
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- "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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Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving
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Experimental Validation of Reachability-based Decision Making for Autonomous Driving
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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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MERL Celebrates 25 Years of Innovation
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Car Path Planning
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MERL Research on Autonomous Vehicles
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MERL Issued Patents
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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
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Title: "Probabilistic state tracking with multi-head measurement model"