MERL - Mitsubishi Electric Research Laboratories

Marcus Greiff

Marcus Greiff
Marcus' Quick Links

  • Biography

    Marcus' doctoral research focused on the control system design of unmanned aerial vehicles. During this time, his work on estimation theory with MERL was acknowledged with a best student paper award at the IEEE CCTA conference. Marcus' research interests concern nonlinear control using Lyapunov and Matrosov theory, nonlinear estimation, optimal control and motion planning, and their interplay when applied to robotics and aerospace systems.

  • Recent News & Events


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  • Awards

    •  AWARD    Marcus Greiff receives Outstanding Student Paper Award at CCTA 2022
      Date: August 25, 2022
      Awarded to: Marcus Greiff
      MERL Contact: Marcus Greiff
      Research Areas: Control, Dynamical Systems, Robotics
      Brief
      • Marcus Greiff, a Visiting Research Scientist at MERL, was awarded one of three outstanding student paper awards at the IEEE CCTA 2022 conference for his paper titled "Quadrotor Control on SU(2)xR3 with SLAM Integration". The award was given for originality, clarity, and potential impact on practical applications of control. The work presents a complete UAV control system design, facilitating autonomous supermarket inventorying without the need for external motion capture systems. A video of the experiments is on YouTube, including both simulations and real-time examples.
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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 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.
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  • Internships with Marcus

    • CA2123: Control and sensing for quadrotors

      MERL is seeking a highly motivated candidate to collaborate with the Control for Autonomy team in research on control and estimation for quadrotors. The ideal candidate is expected to be working towards a PhD with emphasis on control or related areas, and it is a merit to have interest and background in one or several of: experimentation and research on quadrotors in general and Crazyflies in particular, Lyapunov stability theory, statistical estimation theory, and visual-inertial SLAM. Good programming skills in MATLAB, ROS, Python, are required and knowledge of C is a merit. The expected duration of the internship is 3 months with a start date of late spring or early summer of 2024.

    • CA2126: Advanced estimation algorithms for GNSS positioning

      MERL is seeking a highly motivated candidate to collaborate with the Control for Autonomy team in research on developing estimation algorithms for GNSS positioning. The ideal candidate is expected to be working towards an MSc or PhD with emphasis on GNSS positioning, and it is a merit to have interest and background in one or several of: factor graph optimization, statistical estimation theory, inertial navigation systems, Kalman filtering, hands-on experience with RTKlib or similar software. Good programming skills in MATLAB are required and knowledge of C is a merit. The expected duration of the internship is 3 months with a start date of late spring or early summer of 2024.

    See All Internships at MERL

  • MERL Publications

    •  Greiff, M., Di Cairano, S., Kim, K.J., Berntorp, K., "A System-Level Cooperative Multi-Agent GNSS Positioning Solution", IEEE Transactions on Control Systems Technology, October 2023.
      BibTeX TR2023-135 PDF
      • @article{Greiff2023oct,
      • author = {Greiff, Marcus and Di Cairano, Stefano and Kim, Kyeong Jin and Berntorp, Karl},
      • title = {A System-Level Cooperative Multi-Agent GNSS Positioning Solution},
      • journal = {IEEE Transactions on Control Systems Technology},
      • year = 2023,
      • month = oct,
      • url = {https://www.merl.com/publications/TR2023-135}
      • }
    •  Shimane, Y., Miraldo, P., Berntorp, K., Greiff, M., Elango, P., Weiss, A., "High-Fidelity Simulation of Horizon-Based Optical Navigation with Open-Source Software", International Astronautical Congress (IAC), October 2023.
      BibTeX TR2023-128 PDF
      • @inproceedings{Shimane2023oct,
      • author = {Shimane, Yuri and Miraldo, Pedro and Berntorp, Karl and Greiff, Marcus and Elango, Purnanand and Weiss, Avishai},
      • title = {High-Fidelity Simulation of Horizon-Based Optical Navigation with Open-Source Software},
      • booktitle = {International Astronautical Congress (IAC)},
      • year = 2023,
      • month = oct,
      • url = {https://www.merl.com/publications/TR2023-128}
      • }
    •  Greiff, M., Di Cairano, S., Mansour, H., Berntorp, K., "A Generalized GraphEM for Sparse Time-Varying Dynamical Systems", World Congress of the International Federation of Automatic Control (IFAC), Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita, Eds., DOI: 10.1016/​j.ifacol.2023.10.630, July 2023, pp. 5957-5962.
      BibTeX TR2023-086 PDF
      • @inproceedings{Greiff2023jul2,
      • author = {Greiff, Marcus and Di Cairano, Stefano and Mansour, Hassan and Berntorp, Karl},
      • title = {A Generalized GraphEM for Sparse Time-Varying Dynamical Systems},
      • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
      • year = 2023,
      • editor = {Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita},
      • pages = {5957--5962},
      • month = jul,
      • publisher = {Elsevier},
      • doi = {10.1016/j.ifacol.2023.10.630},
      • issn = {2405-8963},
      • url = {https://www.merl.com/publications/TR2023-086}
      • }
    •  Greiff, M., Berntorp, K., Di Cairano, S., "Adaptive Smoothing with Ambiguity Fixation for GNSS Post-Processing", World Congress of the International Federation of Automatic Control (IFAC), Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita, Eds., DOI: 10.1016/​j.ifacol.2023.10.911, July 2023, pp. 10276-10282.
      BibTeX TR2023-083 PDF
      • @inproceedings{Greiff2023jul,
      • author = {Greiff, Marcus and Berntorp, Karl and Di Cairano, Stefano},
      • title = {Adaptive Smoothing with Ambiguity Fixation for GNSS Post-Processing},
      • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
      • year = 2023,
      • editor = {Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita},
      • pages = {10276--10282},
      • month = jul,
      • publisher = {Elsevier},
      • doi = {10.1016/j.ifacol.2023.10.911},
      • issn = {2405-8963},
      • url = {https://www.merl.com/publications/TR2023-083}
      • }
    •  Berntorp, K., Greiff, M., Di Cairano, S., Miraldo, P., "Bayesian Sensor Fusion for Joint Vehicle Localization and Road Mapping Using Onboard Sensors", International Conference on Information Fusion (FUSION), DOI: 10.23919/​FUSION52260.2023.10224204, June 2023, pp. 1-8.
      BibTeX TR2023-074 PDF
      • @inproceedings{Berntorp2023jun,
      • author = {Berntorp, Karl and Greiff, Marcus and Di Cairano, Stefano and Miraldo, Pedro},
      • title = {Bayesian Sensor Fusion for Joint Vehicle Localization and Road Mapping Using Onboard Sensors},
      • booktitle = {International Conference on Information Fusion (FUSION)},
      • year = 2023,
      • pages = {1--8},
      • month = jun,
      • publisher = {IEEE},
      • doi = {10.23919/FUSION52260.2023.10224204},
      • isbn = {979-8-89034-485-4},
      • url = {https://www.merl.com/publications/TR2023-074}
      • }
    See All Publications for Marcus

  • Other Publications

    •  Zhiyong Sun, Marcus Greiff, Anders Robertsson, Rolf Johansson and Brian D. O. Anderson, "Cooperative constrained motion coordination of networked heterogeneous vehicles", 2022.
      BibTeX
      • @Article{sun2022cooperative,
      • author = {Sun, Zhiyong and Greiff, Marcus and Robertsson, Anders and Johansson, Rolf and Anderson, Brian D. O.},
      • title = {Cooperative constrained motion coordination of networked heterogeneous vehicles},
      • year = 2022
      • }
    •  Marcus Greiff, Emil Rofors, Anders Robertsson, Rolf Johansson and Rikard Tyllström, "Gamma-Ray Imaging with Spatially Continuous Intensity Statistics", 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 5257-5262.
      BibTeX
      • @Inproceedings{greiff2021gamma,
      • author = {Greiff, Marcus and Rofors, Emil and Robertsson, Anders and Johansson, Rolf and Tyllström, Rikard},
      • title = {Gamma-Ray Imaging with Spatially Continuous Intensity Statistics},
      • booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      • year = 2021,
      • pages = {5257--5262},
      • organization = {IEEE}
      • }
    •  Marcus Greiff, Patrik Persson, Zhiyong Sun, Anders Robertsson and Kalle Åström, "Quadrotor Control on SU(2) x R^3 with SLAM Integration", 2021.
      BibTeX External
      • @Article{greiff2021inventorying,
      • author = {Greiff, Marcus and Persson, Patrik and Sun, Zhiyong and Robertsson, Anders and \AAstr\"om, Kalle},
      • title = {Quadrotor Control on SU(2) x R^3 with SLAM Integration},
      • year = 2021,
      • url = {arxiv.org/abs/2110.01099}
      • }
    •  Marcus Greiff, Nonlinear Control of Unmanned Aerial Vehicles: Systems With an Attitude, 2021.
      BibTeX
      • @Book{greiff2021nonlinear,
      • author = {Greiff, Marcus},
      • title = {Nonlinear Control of Unmanned Aerial Vehicles: Systems With an Attitude},
      • school = {Lund University},
      • year = 2021
      • }
    •  Marcus Greiff, Zhiyong Sun and Anders Robertsson, "Attitude Control on SU(2): Stability, Robustness, and Similarities", IEEE Control Systems Letters, Vol. 6, pp. 73-78, 2021.
      BibTeX
      • @Article{greiff2021similarities,
      • author = {Greiff, Marcus and Sun, Zhiyong and Robertsson, Anders},
      • title = {Attitude Control on SU(2): Stability, Robustness, and Similarities},
      • journal = {IEEE Control Systems Letters},
      • year = 2021,
      • volume = 6,
      • pages = {73--78}
      • }
    •  Marcus Greiff, Mohammad Deghat, Zhiyong Sun and Anders Robertsson, "Target Localization and Circumnavigation With Integral Action in R^2", IEEE Control Systems Letters, Vol. 6, pp. 1250-1255, 2021.
      BibTeX
      • @Article{greiff2021target,
      • author = {Greiff, Marcus and Deghat, Mohammad and Sun, Zhiyong and Robertsson, Anders},
      • title = {Target Localization and Circumnavigation With Integral Action in R^2},
      • journal = {IEEE Control Systems Letters},
      • year = 2021,
      • volume = 6,
      • pages = {1250--1255}
      • }
    •  Marcus Greiff, Zhiyon Sun and Anders Robertsson, "Tuning and Analysis of Geometric Tracking Controllers on SO(3)", 2021 American Control Conference (ACC), 2021, pp. 1674-1680.
      BibTeX
      • @Inproceedings{greiff2021tuning,
      • author = {Greiff, Marcus and Sun, Zhiyon and Robertsson, Anders},
      • title = {Tuning and Analysis of Geometric Tracking Controllers on SO(3)},
      • booktitle = {2021 American Control Conference (ACC)},
      • year = 2021,
      • pages = {1674--1680},
      • organization = {IEEE}
      • }
    •  Erjen Lefeber, Marcus Greiff and Anders Robertsson, "Filtered Output Feedback Tracking Control of a Quadrotor UAV", IFAC-PapersOnLine, Vol. 53, No. 2, pp. 5764-5770, 2020.
      BibTeX
      • @Article{greiff2020filtered,
      • author = {Lefeber, Erjen and Greiff, Marcus and Robertsson, Anders},
      • title = {Filtered Output Feedback Tracking Control of a Quadrotor UAV},
      • journal = {IFAC-PapersOnLine},
      • year = 2020,
      • volume = 53,
      • number = 2,
      • pages = {5764--5770},
      • publisher = {Elsevier}
      • }
    •  Marcus Greiff, Zhiyong Sun and Anders Robertsson, "Coordination Control of Double-Integrator Systems with Time-Varying Weighted Inputs", IFAC-PapersOnLine, Vol. 53, No. 2, pp. 2489-2494, 2020.
      BibTeX
      • @Article{greiff2020weighted,
      • author = {Greiff, Marcus and Sun, Zhiyong and Robertsson, Anders},
      • title = {Coordination Control of Double-Integrator Systems with Time-Varying Weighted Inputs},
      • journal = {IFAC-PapersOnLine},
      • year = 2020,
      • volume = 53,
      • number = 2,
      • pages = {2489--2494},
      • publisher = {Elsevier}
      • }
    •  Marcus Greiff, Zhiyong Sun, Anders Robertsson and Rolf Johansson, "Temporal viability regulation for control affine systems with applications to mobile vehicle coordination under time-varying motion constraints", 2019 18th European Control Conference (ECC), 2019, pp. 3571-3576.
      BibTeX
      • @Inproceedings{greiff2019temporal,
      • author = {Greiff, Marcus and Sun, Zhiyong and Robertsson, Anders and Johansson, Rolf},
      • title = {Temporal viability regulation for control affine systems with applications to mobile vehicle coordination under time-varying motion constraints},
      • booktitle = {2019 18th European Control Conference (ECC)},
      • year = 2019,
      • pages = {3571--3576},
      • organization = {IEEE}
      • }
    •  M. Greiff and A. Robertsson, "Incremental Reference Generation for Nonsingular Control on SE(3)", 2018 IEEE Conference on Control Technology and Applications (CCTA), 2018, pp. 132-137.
      BibTeX
      • @Inproceedings{greiff2018nonsingular,
      • author = {Greiff, M. and Robertsson, A.},
      • title = {Incremental Reference Generation for Nonsingular Control on SE(3)},
      • booktitle = {2018 IEEE Conference on Control Technology and Applications (CCTA)},
      • year = 2018,
      • pages = {132--137}
      • }
    •  Marcus Greiff, "A Time-Warping Transformation for Time-Optimal Movement in Differentially Flat Systems", 2018 Annual American Control Conference (ACC), 2018, pp. 6723-6730.
      BibTeX
      • @Inproceedings{greiff2018time,
      • author = {Greiff, Marcus},
      • title = {A Time-Warping Transformation for Time-Optimal Movement in Differentially Flat Systems},
      • booktitle = {2018 Annual American Control Conference (ACC)},
      • year = 2018,
      • pages = {6723--6730},
      • organization = {IEEE}
      • }
    •  Marcus Greiff, Modelling and control of the Crazyflie quadrotor for aggressive and autonomous flight by optical flow driven state estimation, 2017.
      BibTeX
      • @Book{greiff2017modelling,
      • author = {Greiff, Marcus},
      • title = {Modelling and control of the Crazyflie quadrotor for aggressive and autonomous flight by optical flow driven state estimation},
      • school = {Lund University},
      • year = 2017
      • }
    •  Marcus Greiff and Anders Robertsson, "Optimisation-based motion planning with obstacles and priorities", IFAC-PapersOnLine, Vol. 50, No. 1, pp. 11670-11676, 2017.
      BibTeX
      • @Article{greiff2017optimisation,
      • author = {Greiff, Marcus and Robertsson, Anders},
      • title = {Optimisation-based motion planning with obstacles and priorities},
      • journal = {IFAC-PapersOnLine},
      • year = 2017,
      • volume = 50,
      • number = 1,
      • pages = {11670--11676},
      • publisher = {Elsevier}
      • }

  • 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 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
    See All Patents for MERL