Karl Berntorp

Karl Berntorp
  • 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


    See All News & Events for Karl
  • Internships with Karl

    • CA1391: Algorithms for GNSS localization

      The Control and Dynamical Systems (CD) group at MERL is seeking a highly motivated intern to work on GNSS Positioning and localization. Previous experience with at least some of the GNSSs, particle filtering, interacting multiple model filtering, Kalman-type filtering, and ambiguity resolution is highly desirable. Working knowledge of C/C++ is required, and previous experience with GNSS packages such as RTKLib is highly desired. PhD candidates meeting the above requirements are welcome to apply. The expected duration of the internship is 3-6 months with flexible start date.

    See All Internships at MERL
  • MERL Publications

    •  Xia, Y., Wang, P., Berntorp, K., Koike-Akino, T., Mansour, H., Pajovic, M., Boufounos, P.T., Orlik, P.V., "Extended Object Tracking Using Hierarchical Truncation Measurement Model with Automotive Radar", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), DOI: 10.1109/ICASSP40776.2020.9054614, April 2020, pp. 4900-4904.
      BibTeX TR2020-044 PDF Video
      • @inproceedings{Xia2020apr,
      • author = {Xia, Yuxuan and Wang, Pu and Berntorp, Karl and Koike-Akino, Toshiaki and Mansour, Hassan and Pajovic, Milutin and Boufounos, Petros T. and Orlik, Philip V.},
      • title = {Extended Object Tracking Using Hierarchical Truncation Measurement Model with Automotive Radar},
      • booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
      • year = 2020,
      • pages = {4900--4904},
      • month = apr,
      • publisher = {IEEE},
      • doi = {10.1109/ICASSP40776.2020.9054614},
      • issn = {2379-190X},
      • isbn = {978-1-5090-6631-5},
      • url = {https://www.merl.com/publications/TR2020-044}
      • }
    •  Berntorp, K., Weiss, A., Di Cairano, S., "Integer Ambiguity Resolution by Mixture Kalman Filter for Improved GNSS Precision", IEEE Transactions on Aerospace and Electronic Systems, DOI: 10.1109/TAES.2020.2965715, February 2020.
      BibTeX TR2020-022 PDF
      • @article{Berntorp2020feb,
      • author = {Berntorp, Karl and Weiss, Avishai and Di Cairano, Stefano},
      • title = {Integer Ambiguity Resolution by Mixture Kalman Filter for Improved GNSS Precision},
      • journal = {IEEE Transactions on Aerospace and Electronic Systems},
      • year = 2020,
      • month = feb,
      • doi = {10.1109/TAES.2020.2965715},
      • url = {https://www.merl.com/publications/TR2020-022}
      • }
    •  Berntorp, K., Quirynen, R., Uno, T., Di Cairano, S., "Trajectory Tracking for Autonomous Vehicles on Varying Road Surfaces by Friction-Adaptive Nonlinear Model Predictive Control", Journal of Vehicle Systems Dynamics, DOI: 10.1080/00423114.2019.1697456, January 2020.
      BibTeX TR2020-005 PDF
      • @article{Berntorp2020jan,
      • author = {Berntorp, Karl and Quirynen, Rien and Uno, Tomoki and Di Cairano, Stefano},
      • title = {Trajectory Tracking for Autonomous Vehicles on Varying Road Surfaces by Friction-Adaptive Nonlinear Model Predictive Control},
      • journal = {Journal of Vehicle Systems Dynamics},
      • year = 2020,
      • month = jan,
      • doi = {10.1080/00423114.2019.1697456},
      • url = {https://www.merl.com/publications/TR2020-005}
      • }
    •  Berntorp, K., Hiroaki, K., "Bayesian Learning of Tire Friction with Automotive-Grade Sensors by Gaussian-Process State-Space Models", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC40024.2019.9029732, December 2019, pp. 6681-6686.
      BibTeX TR2019-145 PDF
      • @inproceedings{Berntorp2019dec,
      • author = {Berntorp, Karl and Hiroaki, Kitano},
      • title = {Bayesian Learning of Tire Friction with Automotive-Grade Sensors by Gaussian-Process State-Space Models},
      • booktitle = {IEEE Conference on Decision and Control (CDC)},
      • year = 2019,
      • pages = {6681--6686},
      • month = dec,
      • doi = {10.1109/CDC40024.2019.9029732},
      • url = {https://www.merl.com/publications/TR2019-145}
      • }
    •  Menner, M., Berntorp, K., Di Cairano, S., "Inverse Learning for Human-Adaptive Motion Planning", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC40024.2019.9030020, December 2019.
      BibTeX TR2019-146 PDF
      • @inproceedings{Menner2019dec,
      • author = {Menner, Marcel and Berntorp, Karl and Di Cairano, Stefano},
      • title = {Inverse Learning for Human-Adaptive Motion Planning},
      • booktitle = {IEEE Conference on Decision and Control (CDC)},
      • year = 2019,
      • month = dec,
      • doi = {10.1109/CDC40024.2019.9030020},
      • url = {https://www.merl.com/publications/TR2019-146}
      • }
    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: "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