Publications

29 / 3,816 publications found.


  •  Greiff, M., Sinhmar, H., Weiss, A., Berntorp, K., Di Cairano, S., "Invariant Set Planning for Quadrotors: Design, Analysis, Experiments", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3492813, Vol. 33, No. 2, pp. 449-462, January 2025.
    BibTeX TR2025-010 PDF
    • @article{Greiff2025jan,
    • author = {Greiff, Marcus and Sinhmar, Himani and Weiss, Avishai and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{Invariant Set Planning for Quadrotors: Design, Analysis, Experiments}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2025,
    • volume = 33,
    • number = 2,
    • pages = {449--462},
    • month = jan,
    • doi = {10.1109/TCST.2024.3492813},
    • issn = {1063-6536},
    • url = {https://www.merl.com/publications/TR2025-010}
    • }
  •  Greiff, M., Di Cairano, S., Berntorp, K., "Bayesian Measurement Masks for GNSS Positioning", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10885938, December 2024.
    BibTeX TR2024-172 PDF
    • @inproceedings{Greiff2024dec,
    • author = {Greiff, Marcus and {Di Cairano}, Stefano and Berntorp, Karl},
    • title = {{Bayesian Measurement Masks for GNSS Positioning}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10885938},
    • url = {https://www.merl.com/publications/TR2024-172}
    • }
  •  Greiff, M., Berntorp, K., "Asynchronous Variational-Bayes Kalman Filtering", IEEE Conference on Decision and Control (CDC), December 2024.
    BibTeX TR2024-177 PDF
    • @inproceedings{Greiff2024dec2,
    • author = {Greiff, Marcus and Berntorp, Karl},
    • title = {{Asynchronous Variational-Bayes Kalman Filtering}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2024-177}
    • }
  •  Berntorp, K., Greiff, M., "A Framework for Joint Vehicle Localization and Road Mapping Using Onboard Sensors", Control Engineering Practice, November 2024.
    BibTeX TR2024-163 PDF
    • @article{Berntorp2024nov,
    • author = {Berntorp, Karl and Greiff, Marcus},
    • title = {{A Framework for Joint Vehicle Localization and Road Mapping Using Onboard Sensors}},
    • journal = {Control Engineering Practice},
    • year = 2024,
    • month = nov,
    • url = {https://www.merl.com/publications/TR2024-163}
    • }
  •  Pais, G., Piedade, V., Chatterjee, M., Greiff, M., Miraldo, P., "A Probability-guided Sampler for Neural Implicit Surface Rendering", European Conference on Computer Vision (ECCV), Leonardis, A. and Ricci, E. and Roth, S. and Russakovsky, O., Sattler, T. and Varol, G., Eds., DOI: 10.1007/​978-3-031-72913-3_10, September 2024, pp. 164-182.
    BibTeX TR2024-129 PDF
    • @inproceedings{Pais2024sep,
    • author = {Pais, Goncalo and Piedade, Valter and Chatterjee, Moitreya and Greiff, Marcus and Miraldo, Pedro},
    • title = {{A Probability-guided Sampler for Neural Implicit Surface Rendering}},
    • booktitle = {European Conference on Computer Vision (ECCV)},
    • year = 2024,
    • editor = {Leonardis, A. and Ricci, E. and Roth, S. and Russakovsky, O., Sattler, T. and Varol, G.},
    • pages = {164--182},
    • month = sep,
    • publisher = {Springer, Cham},
    • doi = {10.1007/978-3-031-72913-3_10},
    • isbn = {978-3-031-72913-3},
    • url = {https://www.merl.com/publications/TR2024-129}
    • }
  •  Huang, Y., Greiff, M., Vinod, A.P., Di Cairano, S., "Leveraging Computational Fluid Dynamics in UAV Motion Planning", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644753, July 2024, pp. 375-381.
    BibTeX TR2024-050 PDF Video
    • @inproceedings{Huang2024jul,
    • author = {Huang, Yunshen and Greiff, Marcus and Vinod, Abraham P. and {Di Cairano}, Stefano},
    • title = {{Leveraging Computational Fluid Dynamics in UAV Motion Planning}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • pages = {375--381},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ACC60939.2024.10644753},
    • url = {https://www.merl.com/publications/TR2024-050}
    • }
  •  Zhang, Y., Greiff, M., Ren, W., Berntorp, K., "Distributed Road-Map Monitoring Using Onboard Sensors", American Control Conference (ACC), July 2024.
    BibTeX TR2024-093 PDF
    • @inproceedings{Zhang2024jul,
    • author = {Zhang, Yanyu and Greiff, Marcus and Ren, Wei and Berntorp, Karl},
    • title = {{Distributed Road-Map Monitoring Using Onboard Sensors}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2024-093}
    • }
  •  Berntorp, K., Greiff, M., "Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590965, June 2024, pp. 725-730.
    BibTeX TR2024-082 PDF
    • @inproceedings{Berntorp2024jun,
    • author = {Berntorp, Karl and Greiff, Marcus},
    • title = {{Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • pages = {725--730},
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590965},
    • url = {https://www.merl.com/publications/TR2024-082}
    • }
  •  Greiff, M., Weiss, A., Berntorp, K., Di Cairano, S., "A Robust Invariant Set Planner For Quadrotors", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590943, June 2024.
    BibTeX TR2024-081 PDF
    • @inproceedings{Greiff2024jun,
    • author = {Greiff, Marcus and Weiss, Avishai and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{A Robust Invariant Set Planner For Quadrotors}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ECC64448.2024.10590943},
    • url = {https://www.merl.com/publications/TR2024-081}
    • }
  •  Nayak, S., Greiff, M., Raghunathan, A., Di Cairano, S., Vinod, A.P., "Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644645, June 2024, pp. 299-305.
    BibTeX TR2024-078 PDF
    • @inproceedings{Nayak2024jun,
    • author = {Nayak, Siddharth and Greiff, Marcus and Raghunathan, Arvind and {Di Cairano}, Stefano and Vinod, Abraham P.},
    • title = {{Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • pages = {299--305},
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ACC60939.2024.10644645},
    • url = {https://www.merl.com/publications/TR2024-078}
    • }
  •  Sinhmar, H., Greiff, M., Di Cairano, S., ,, "Practical and Safe Navigation Function Based Motion Planning of UAVs", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA57147.2024.10611255, May 2024.
    BibTeX TR2024-055 PDF
    • @inproceedings{Sinhmar2024may,
    • author = {Sinhmar, Himani and Greiff, Marcus and {Di Cairano}, Stefano and},
    • title = {{Practical and Safe Navigation Function Based Motion Planning of UAVs}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA57147.2024.10611255},
    • url = {https://www.merl.com/publications/TR2024-055}
    • }
  •  Fernandez-Menduina, S., Rapp, J., Mansour, H., Greiff, M., Parsons, K., "Tracking Beyond the Unambiguous Range with Modulo Single-Photon Lidar", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), DOI: 10.1109/​ICASSP48485.2024.10446835, March 2024, pp. 6-10.
    BibTeX TR2024-021 PDF
    • @inproceedings{Fernandez-Menduina2024mar,
    • author = {Fernandez-Menduina, Samuel and Rapp, Joshua and Mansour, Hassan and Greiff, Marcus and Parsons, Kieran},
    • title = {{Tracking Beyond the Unambiguous Range with Modulo Single-Photon Lidar}},
    • booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
    • year = 2024,
    • pages = {6--10},
    • month = mar,
    • doi = {10.1109/ICASSP48485.2024.10446835},
    • url = {https://www.merl.com/publications/TR2024-021}
    • }
  •  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, DOI: 10.1109/​TCST.2023.3307339, Vol. 32, No. 1, pp. 158-173, 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,
    • volume = 32,
    • number = 1,
    • pages = {158--173},
    • month = oct,
    • doi = {10.1109/TCST.2023.3307339},
    • 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, pp. IAC-23,C1,5,9,x78805.
    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,
    • pages = {IAC--23,C1,5,9,x78805},
    • 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 and Yoshio Ebihara and Jun-ichi Imura and 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 and Yoshio Ebihara and Jun-ichi Imura and 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 and Yoshio Ebihara and Jun-ichi Imura and 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 and Yoshio Ebihara and Jun-ichi Imura and 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}
    • }
  •  Greiff, M., Vinod, A.P., Nabi, S., Cairano, S., "Quadrotor Motion Planning in Stochastic Wind Fields", American Control Conference (ACC), May 2023, pp. 4619 - 4625.
    BibTeX TR2023-056 PDF
    • @inproceedings{Greiff2023may,
    • author = {Greiff, Marcus and Vinod, Abraham P. and Nabi, Saleh and Cairano, Stefano},
    • title = {{Quadrotor Motion Planning in Stochastic Wind Fields}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • pages = {4619 -- 4625},
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-056}
    • }
  •  You, S., Greiff, M., Quirynen, R., Ran, S., Wang, Y., Berntorp, K., Dai, R., Di Cairano, S., "Integral Action NMPC for Tight Maneuvers of Articulated Vehicles", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10156543, 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,
    • doi = {10.23919/ACC55779.2023.10156543},
    • issn = {2378-5861},
    • url = {https://www.merl.com/publications/TR2023-058}
    • }
  •  Greiff, M., Berntorp, K., "Distributed Kalman Filtering: When to Share Measurements", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC51059.2022.9993404, December 2022, pp. 5399-5404.
    BibTeX TR2022-158 PDF
    • @inproceedings{Greiff2022dec,
    • author = {Greiff, Marcus and Berntorp, Karl},
    • title = {{Distributed Kalman Filtering: When to Share Measurements}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2022,
    • pages = {5399--5404},
    • month = dec,
    • publisher = {IEEE},
    • doi = {10.1109/CDC51059.2022.9993404},
    • issn = {2576-2370},
    • isbn = {978-1-6654-6761-2},
    • url = {https://www.merl.com/publications/TR2022-158}
    • }
  •  Zawislak, R., Greiff, M., Kim, K.J., Berntorp, K., Di Cairano, S., Mao, K., Parsons, K., Orlik, P.V., Sato, Y., "GNSS Multipath Detection Aided by Unsupervised Domain Adaptation", ION-GNSS+ Conference, DOI: 10.33012/​2022.18333, September 2022, pp. 2127-2137.
    BibTeX TR2022-118 PDF
    • @inproceedings{Zawislak2022sep,
    • author = {Zawislak, Remy and Greiff, Marcus and Kim, Kyeong Jin and Berntorp, Karl and {Di Cairano}, Stefano and Mao, Konishi and Parsons, Kieran and Orlik, Philip V. and Sato, Yuki},
    • title = {{GNSS Multipath Detection Aided by Unsupervised Domain Adaptation}},
    • booktitle = {ION-GNSS+ Conference},
    • year = 2022,
    • pages = {2127--2137},
    • month = sep,
    • publisher = {Institute of Navigation},
    • doi = {10.33012/2022.18333},
    • url = {https://www.merl.com/publications/TR2022-118}
    • }
  •  Berntorp, K., Greiff, M., Di Cairano, S., "Bayesian Sensor Fusion of GNSS and Camera With Outlier Adaptation for Vehicle Positioning", International Conference on Information Fusion (FUSION), DOI: 10.23919/​FUSION49751.2022.9841302, July 2022, pp. 1-8.
    BibTeX TR2022-093 PDF
    • @inproceedings{Berntorp2022jul,
    • author = {Berntorp, Karl and Greiff, Marcus and {Di Cairano}, Stefano},
    • title = {{Bayesian Sensor Fusion of GNSS and Camera With Outlier Adaptation for Vehicle Positioning}},
    • booktitle = {International Conference on Information Fusion (FUSION)},
    • year = 2022,
    • pages = {1--8},
    • month = jul,
    • doi = {10.23919/FUSION49751.2022.9841302},
    • isbn = {978-1-7377497-2-1},
    • url = {https://www.merl.com/publications/TR2022-093}
    • }
  •  Greiff, M., Di Cairano, S., Berntorp, K., "Dynamic Clustering for GNSS Positioning with Multiple Receivers", International Conference on Information Fusion (FUSION), DOI: 10.23919/​FUSION49751.2022.9841289, July 2022, pp. 1-7.
    BibTeX TR2022-094 PDF
    • @inproceedings{Greiff2022jul,
    • author = {Greiff, Marcus and {Di Cairano}, Stefano and Berntorp, Karl},
    • title = {{Dynamic Clustering for GNSS Positioning with Multiple Receivers}},
    • booktitle = {International Conference on Information Fusion (FUSION)},
    • year = 2022,
    • pages = {1--7},
    • month = jul,
    • doi = {10.23919/FUSION49751.2022.9841289},
    • isbn = {978-1-6654-8941-6},
    • url = {https://www.merl.com/publications/TR2022-094}
    • }
  •  Greiff, M., Berntorp, K., Di Cairano, S., Kim, K.J., "Mixed-Integer Linear Regression Kalman Filters for GNSS Positioning", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA48906.2021.9659142, August 2021.
    BibTeX TR2021-090 PDF
    • @inproceedings{Greiff2021aug,
    • author = {Greiff, Marcus and Berntorp, Karl and {Di Cairano}, Stefano and Kim, Kyeong Jin},
    • title = {{Mixed-Integer Linear Regression Kalman Filters for GNSS Positioning}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2021,
    • month = aug,
    • doi = {10.1109/CCTA48906.2021.9659142},
    • url = {https://www.merl.com/publications/TR2021-090}
    • }
  •  Greiff, M., Robertsson, A., Berntorp, K., "Exploiting linear substructure in linear regression Kalman filters", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC42340.2020.9304191, 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 Conference on Decision and Control (CDC)},
    • year = 2020,
    • month = dec,
    • doi = {10.1109/CDC42340.2020.9304191},
    • url = {https://www.merl.com/publications/TR2020-171}
    • }