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 Karl Berntorp gave an invited lecture at the Department of Electrical Engineering at Linkoping University Date: October 8, 2020
Where: Linkoping University
MERL Contact: Karl Berntorp
Research Areas: Control, Dynamical Systems, Robotics, Signal ProcessingBrief- MERL researcher Karl Berntorp was invited to give a lecture in the class "Autonomous vehicles – planning, control, and learning systems" at the Division of Vehicular Systems, Department of Electrical Engineering, Linkoping University. The course is for the engineering-program students at Linkoping University and gives a basic understanding of the available models, methods, and software libraries to work on autonomous vehicles, with particular focus on motion-planning and control methods. The invited lecture described the different system components and design of motion planning and predictive control methods targeted to autonomous driving.
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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.
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 Contact: Karl Berntorp
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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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.
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CA1528: Learning-Based Stochastic Predictive Control
MERL is looking for highly motivated interns to work in the domain of data-based controller design and algorithms for stochastic model predictive control (MPC) methods. The research involves the derivation, implementation, and validation of novel algorithms for optimization-based/data-driven control for industrial applications, e.g., related to autonomous driving and robotics. The ideal candidate has experience in either one or multiple of the following topics: stochastic MPC (e.g., scenario trees or tube MPC), (inverse) optimal control, convex and nonconvex optimization, parallel processing, real-time optimization, machine learning, statistical learning, and Bayesian inference. PhD students in engineering or mathematics, especially with a focus on stochastic and learning-based control or numerical optimization, are encouraged to apply. Publication of relevant results in conference proceedings or journals is expected. Capability of implementing the designs and algorithms in MATLAB/Python is expected; coding parts of the algorithms in C/C++ is a plus. The expected duration of the internship is 3-6 months, and the start date is flexible. This internship is preferred to be onsite at MERL, but may be done remotely where you live if the COVID pandemic makes it necessary.
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MERL Publications
- "Exploiting linear substructure in linear regression Kalman filters", IEEE Annual Conference on Decision and Control (CDC), December 2020.BibTeX TR2020-171 PDF
- @inproceedings{Greiff2020dec,
- author = {Greiff, Marcus and Robertsson, Anders and Berntorp, Karl},
- title = {Exploiting linear substructure in linear regression Kalman filters},
- booktitle = {IEEE Annual Conference on Decision and Control (CDC)},
- year = 2020,
- month = dec,
- url = {https://www.merl.com/publications/TR2020-171}
- }
, - "Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving", IEEE Conference on Decision and Control (CDC), December 2020.BibTeX TR2020-168 PDF
- @inproceedings{Ahn2020dec2,
- author = {Ahn, Heejin and Berntorp, Karl and Di Cairano, Stefano},
- title = {Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2020,
- month = dec,
- url = {https://www.merl.com/publications/TR2020-168}
- }
, - "Reachability-based Decision Making for Autonomous Driving: Theory and Experiment", IEEE Transactions on Control Systems Technology, December 2020.BibTeX TR2020-165 PDF
- @article{Ahn2020dec,
- author = {Ahn, Heejin and Berntorp, Karl and Inani, Pranav and Ram, Arjun Jagdish and Di Cairano, Stefano},
- title = {Reachability-based Decision Making for Autonomous Driving: Theory and Experiment},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2020,
- month = dec,
- url = {https://www.merl.com/publications/TR2020-165}
- }
, - "Extended Object Tracking with Automotive Radar Using Learned Structural Measurement Model", IEEE Radar Conference (RadarCon), September 2020.BibTeX TR2020-131 PDF
- @inproceedings{Xia2020sep,
- author = {Xia, Yuxuan and Wang, Pu and Berntorp, Karl and Boufounos, Petros T. and Orlik, Philip V. and Svensson, Lennart and Granstrom, Karl},
- title = {Extended Object Tracking with Automotive Radar Using Learned Structural Measurement Model},
- booktitle = {IEEE Radar Conference (RadarCon)},
- year = 2020,
- month = sep,
- url = {https://www.merl.com/publications/TR2020-131}
- }
, - "MSE-optimal measurement dimension reduction in Gaussian filtering*", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA41146.2020.9206162, August 2020.BibTeX TR2020-124 PDF
- @inproceedings{Greiff2020aug,
- author = {Greiff, Marcus and Robertsson, Anders and Berntorp, Karl},
- title = {MSE-optimal measurement dimension reduction in Gaussian filtering*},
- booktitle = {Conference on Control Technology and Applications (CCTA)},
- year = 2020,
- month = aug,
- doi = {10.1109/CCTA41146.2020.9206162},
- isbn = {978-1-7281-7141-8},
- url = {https://www.merl.com/publications/TR2020-124}
- }
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- "Exploiting linear substructure in linear regression Kalman filters", IEEE Annual Conference on Decision and Control (CDC), December 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
- }
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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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Particle filter-based planning demonstration using mini-cars
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MPC control and 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: "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
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Title: "Systems and Methods for Safe Decision Making of Autonomous Vehicles"