- 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}
- }
- Berntorp, K., Danielson, C., Weiss, A., Di Cairano, S., Erliksson, K., Bai, R., "Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control", Transactions on Intelligent Vehicles, DOI: 10.1109/TIV.2019.2955371, Vol. 5, No. 1, pp. 112-126, August 2019.
BibTeX TR2019-086 PDF- @article{Berntorp2019aug,
- author = {Berntorp, Karl and Danielson, Claus and Weiss, Avishai and Di Cairano, Stefano and Erliksson, Karl and Bai, Richard},
- title = {Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control},
- journal = {Transactions on intelligent vehicles},
- year = 2019,
- volume = 5,
- number = 1,
- pages = {112--126},
- month = aug,
- doi = {10.1109/TIV.2019.2955371},
- url = {https://www.merl.com/publications/TR2019-086}
- }
- Berntorp, K., Inani, P., Quirynen, R., Di Cairano, S., "Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation", American Control Conference (ACC), DOI: 10.23919/ACC.2019.8815309, July 2019, pp. 1382-1387.
BibTeX TR2019-062 PDF- @inproceedings{Berntorp2019jul2,
- author = {Berntorp, Karl and Inani, Pranav and Quirynen, Rien and Di Cairano, Stefano},
- title = {Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation},
- booktitle = {American Control Conference (ACC)},
- year = 2019,
- pages = {1382--1387},
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC.2019.8815309},
- url = {https://www.merl.com/publications/TR2019-062}
- }
- Berntorp, K., Quirynen, R., Di Cairano, S., "Steering of Autonomous Vehicles Based on Friction-Adaptive Nonlinear Model-Predictive Control", American Control Conference (ACC), DOI: 10.23919/ACC.2019.8814448, July 2019, pp. 965-970.
BibTeX TR2019-063 PDF- @inproceedings{Berntorp2019jul3,
- author = {Berntorp, Karl and Quirynen, Rien and Di Cairano, Stefano},
- title = {Steering of Autonomous Vehicles Based on Friction-Adaptive Nonlinear Model-Predictive Control},
- booktitle = {American Control Conference (ACC)},
- year = 2019,
- pages = {965--970},
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC.2019.8814448},
- url = {https://www.merl.com/publications/TR2019-063}
- }
- Greiff, M., Robertsson, A., Berntorp, K., "Performance Bounds in Positioning with the VIVE Lighthouse System", International Conference on Information Fusion (FUSION), July 2019, pp. 1-8.
BibTeX TR2019-068 PDF- @inproceedings{Greiff2019jul,
- author = {Greiff, Marcus and Robertsson, Anders and Berntorp, Karl},
- title = {Performance Bounds in Positioning with the VIVE Lighthouse System},
- booktitle = {International Conference on Information Fusion (FUSION)},
- year = 2019,
- pages = {1--8},
- month = jul,
- isbn = {978-0-9964527-8-6},
- url = {https://www.merl.com/publications/TR2019-068}
- }
- Berntorp, K., Di Cairano, S., "Particle Filtering for Automotive: A survey", International Conference on Information Fusion (FUSION), July 2019, pp. 1-8.
BibTeX TR2019-069 PDF- @inproceedings{Berntorp2019jul,
- author = {Berntorp, Karl and Di Cairano, Stefano},
- title = {Particle Filtering for Automotive: A survey},
- booktitle = {22th International Conference on Information Fusion},
- year = 2019,
- pages = {1--8},
- month = jul,
- isbn = {978-0-9964527-8-6},
- url = {https://www.merl.com/publications/TR2019-069}
- }
- Berntorp, K., "Bayesian Tire-Friction Learning by Gaussian-Process State-Space Models", European Control Conference (ECC), DOI: 10.23919/ECC.2019.8796193, June 2019, pp. 231-236.
BibTeX TR2019-051 PDF- @inproceedings{Berntorp2019jun,
- author = {Berntorp, Karl},
- title = {Bayesian Tire-Friction Learning by Gaussian-Process State-Space Models},
- booktitle = {European Control Conference (ECC)},
- year = 2019,
- pages = {231--236},
- month = jun,
- doi = {10.23919/ECC.2019.8796193},
- url = {https://www.merl.com/publications/TR2019-051}
- }
- Berntorp, K., "Recursive Bayesian Inference and Learning of Gaussian-Process State-Space Models", European Control Conference (ECC), DOI: 10.23919/ECC.2019.8796120, June 2019, pp. 1866-1871.
BibTeX TR2019-053 PDF- @inproceedings{Berntorp2019jun2,
- author = {Berntorp, Karl},
- title = {Recursive Bayesian Inference and Learning of Gaussian-Process State-Space Models},
- booktitle = {European Control Conference (ECC)},
- year = 2019,
- pages = {1866--1871},
- month = jun,
- doi = {10.23919/ECC.2019.8796120},
- url = {https://www.merl.com/publications/TR2019-053}
- }
- Berntorp, K., Di Cairano, S., "Noise-Statistics Learning of Automotive-Grade Sensors Using Adaptive Marginalized Particle Filtering", Journal of Dynamic Systems, Measurement, and Control, DOI: 10.1115/1.4042673, Vol. 141, No. 6, December 2018.
BibTeX TR2018-181 PDF- @article{Berntorp2018dec2,
- author = {Berntorp, Karl and Di Cairano, Stefano},
- title = {Noise-Statistics Learning of Automotive-Grade Sensors Using Adaptive Marginalized Particle Filtering},
- journal = {Journal of Dynamic Systems, Measurement, and Control},
- year = 2018,
- volume = 141,
- number = 6,
- month = dec,
- doi = {10.1115/1.4042673},
- url = {https://www.merl.com/publications/TR2018-181}
- }
- Berntorp, K., Danielson, C., Weiss, A., Di Cairano, S., "Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC.2018.8619458, December 2018.
BibTeX TR2018-172 PDF- @inproceedings{Berntorp2018dec3,
- author = {Berntorp, Karl and Danielson, Claus and Weiss, Avishai and Di Cairano, Stefano},
- title = {Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2018,
- month = dec,
- doi = {10.1109/CDC.2018.8619458},
- url = {https://www.merl.com/publications/TR2018-172}
- }
- Berntorp, K., Hoang, T., Di Cairano, S., "Motion Planning of Autonomous Road Vehicles by Particle Filtering", IEEE Transactions on Intelligent Vehicles, DOI: 10.1109/TIV.2019.2904394, Vol. 4, No. 2, pp. 197-210, December 2018.
BibTeX TR2018-164 PDF- @article{Berntorp2018dec,
- author = {Berntorp, Karl and Hoang, Tru and Di Cairano, Stefano},
- title = {Motion Planning of Autonomous Road Vehicles by Particle Filtering},
- journal = {IEEE Transactions on Intelligent Vehicles},
- year = 2018,
- volume = 4,
- number = 2,
- pages = {197--210},
- month = dec,
- doi = {10.1109/TIV.2019.2904394},
- url = {https://www.merl.com/publications/TR2018-164}
- }
- Berntorp, K., Hoang, T., Quirynen, R., Di Cairano, S., "Control Architecture Design for Autonomous Vehicles", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA.2018.8511371, August 2018, pp. 404-411.
BibTeX TR2018-125 PDF- @inproceedings{Berntorp2018aug,
- author = {Berntorp, Karl and Hoang, Tru and Quirynen, Rien and Di Cairano, Stefano},
- title = {Control Architecture Design for Autonomous Vehicles},
- booktitle = {Conference on Control Technology and Applications (CCTA)},
- year = 2018,
- pages = {404--411},
- month = aug,
- doi = {10.1109/CCTA.2018.8511371},
- url = {https://www.merl.com/publications/TR2018-125}
- }
- Berntorp, K., Weiss, A., Di Cairano, S., "GNSS Ambiguity Resolution by Adaptive Mixture Kalman Filter", International Conference on Information Fusion (FUSION), DOI: 10.23919/ICIF.2018.8455617, July 2018.
BibTeX TR2018-103 PDF- @inproceedings{Berntorp2018jul2,
- author = {Berntorp, Karl and Weiss, Avishai and Di Cairano, Stefano},
- title = {GNSS Ambiguity Resolution by Adaptive Mixture Kalman Filter},
- booktitle = {International Conference on Information Fusion (FUSION)},
- year = 2018,
- month = jul,
- doi = {10.23919/ICIF.2018.8455617},
- url = {https://www.merl.com/publications/TR2018-103}
- }
- Berntorp, K., "Comparison of Gain Function Approximation Methods in the Feedback Particle Filter", International Conference on Information Fusion (FUSION), DOI: 10.1109/WCICA.2018.8630692, July 2018, pp. 175-180.
BibTeX TR2018-102 PDF- @inproceedings{Berntorp2018jul,
- author = {Berntorp, Karl},
- title = {Comparison of Gain Function Approximation Methods in the Feedback Particle Filter},
- booktitle = {International Conference on Information Fusion (FUSION)},
- year = 2018,
- pages = {175--180},
- month = jul,
- doi = {10.1109/WCICA.2018.8630692},
- url = {https://www.merl.com/publications/TR2018-102}
- }
- Ahn, H., Berntorp, K., Di Cairano, S., "Reachability-based Decision Making for City Driving", American Control Conference (ACC), DOI: 10.23919/ACC.2018.8431819, June 2018, pp. 3203-3208.
BibTeX TR2018-091 PDF- @inproceedings{Ahn2018jun,
- author = {Ahn, Heejin and Berntorp, Karl and Di Cairano, Stefano},
- title = {Reachability-based Decision Making for City Driving},
- booktitle = {American Control Conference (ACC)},
- year = 2018,
- pages = {3203--3208},
- month = jun,
- doi = {10.23919/ACC.2018.8431819},
- url = {https://www.merl.com/publications/TR2018-091}
- }
- Berntorp, K., Di Cairano, S., "Offset and Noise Estimation of Automotive-Grade Sensors Using Adaptive Particle Filtering", American Control Conference (ACC), DOI: 10.23919/ACC.2018.8430835, June 2018, pp. 4745-4750.
BibTeX TR2018-092 PDF- @inproceedings{Berntorp2018jun,
- author = {Berntorp, Karl and Di Cairano, Stefano},
- title = {Offset and Noise Estimation of Automotive-Grade Sensors Using Adaptive Particle Filtering},
- booktitle = {American Control Conference (ACC)},
- year = 2018,
- pages = {4745--4750},
- month = jun,
- doi = {10.23919/ACC.2018.8430835},
- url = {https://www.merl.com/publications/TR2018-092}
- }
- Berntorp, K., Di Cairano, S., "Approximate Noise-Adaptive Filtering Using Student-t Distributions", American Control Conference (ACC), DOI: 10.23919/ACC.2018.8430902, June 2018, pp. 2745-2750.
BibTeX TR2018-088 PDF- @inproceedings{Berntorp2018jun2,
- author = {Berntorp, Karl and Di Cairano, Stefano},
- title = {Approximate Noise-Adaptive Filtering Using Student-t Distributions},
- booktitle = {American Control Conference (ACC)},
- year = 2018,
- pages = {2745--2750},
- month = jun,
- doi = {10.23919/ACC.2018.8430902},
- url = {https://www.merl.com/publications/TR2018-088}
- }
- Greiff, M., Berntorp, K., "Evaluation of the Discrete Time Feedback Particle Filter for IMU-Driven Systems Configured on SE(2)", American Control Conference (ACC), DOI: 10.23919/ACC.2018.8431134, June 2018, pp. 5683-5689.
BibTeX TR2018-087 PDF- @inproceedings{Greiff2018jun,
- author = {Greiff, Marcus and Berntorp, Karl},
- title = {Evaluation of the Discrete Time Feedback Particle Filter for IMU-Driven Systems Configured on SE(2)},
- booktitle = {American Control Conference (ACC)},
- year = 2018,
- pages = {5683--5689},
- month = jun,
- doi = {10.23919/ACC.2018.8431134},
- url = {https://www.merl.com/publications/TR2018-087}
- }
- Quirynen, R., Berntorp, K., Di Cairano, S., "Embedded Optimization Algorithms for Steering in Autonomous Vehicles based on Nonlinear Model Predictive Control", American Control Conference (ACC), DOI: 10.23919/ACC.2018.8431260, June 2018, pp. 3251-3256.
BibTeX TR2018-089 PDF- @inproceedings{Quirynen2018jun2,
- author = {Quirynen, Rien and Berntorp, Karl and Di Cairano, Stefano},
- title = {Embedded Optimization Algorithms for Steering in Autonomous Vehicles based on Nonlinear Model Predictive Control},
- booktitle = {American Control Conference (ACC)},
- year = 2018,
- pages = {3251--3256},
- month = jun,
- doi = {10.23919/ACC.2018.8431260},
- url = {https://www.merl.com/publications/TR2018-089}
- }
- Berntorp, K., Grover, P., "Feedback Particle Filter with Data-Driven Gain-Function Approximation", IEEE transactions on aerospace and electronic systems, DOI: 10.1109/TAES.2018.2807559, February 2018.
BibTeX TR2018-034 PDF- @article{Berntorp2018feb,
- author = {Berntorp, Karl and Grover, Piyush},
- title = {Feedback Particle Filter with Data-Driven Gain-Function Approximation},
- journal = {IEEE transactions on aerospace and electronic systems},
- year = 2018,
- month = feb,
- doi = {10.1109/TAES.2018.2807559},
- url = {https://www.merl.com/publications/TR2018-034}
- }
- Berntorp, K., Di Cairano, S., "Tire-Stiffness and Vehicle-State Estimation Based on Noise-Adaptive Particle Filtering", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2018.2790397, February 2018.
BibTeX TR2018-025 PDF- @article{Berntorp2018feb2,
- author = {Berntorp, Karl and Di Cairano, Stefano},
- title = {Tire-Stiffness and Vehicle-State Estimation Based on Noise-Adaptive Particle Filtering},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2018,
- month = feb,
- doi = {10.1109/TCST.2018.2790397},
- url = {https://www.merl.com/publications/TR2018-025}
- }