Karl Berntorp

Publication Activity (10 Years)

Years Active: 2012-2024
Publications (10 Years): 86

Top Topics

Autonomous Vehicles

Predictive Control

Motion Planning

Top Venues

Publications

Marcus Greiff, Stefano Di Cairano, Kyeong Jin Kim, Karl Berntorp
A System-Level Cooperative Multiagent GNSS Positioning Solution. IEEE Trans. Control. Syst. Technol. 32 (1) (2024)
Marcus Greiff, Avishai Weiss, Karl Berntorp, Stefano Di Cairano
A Robust Invariant Set Planner For Quadrotors. ECC (2024)
Marcel Menner, Karl Berntorp
Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering. ECC (2024)
Yanbing Wang, Karl Berntorp, Marcel Menner
Physics-Informed Road Monitoring and Suspension Control Using Crowdsourced Vehicle Data. ECC (2024)
Karl Berntorp, Marcus Greiff
Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors. ECC (2024)
Marcel Menner, Karl Berntorp
Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering. CoRR (2024)
Marcel Menner, Karl Berntorp
Gaussian Processes with State-Dependent Noise for Stochastic Control. CCTA (2023)
Marcel Menner, Karl Berntorp
Gaussian Processes with State-Dependent Noise for Stochastic Control. CoRR (2023)
Hassan Iqbal, Stefano Di Cairano, Karl Berntorp
Motion Planning of Articulated Vehicles with Active Trailer Steering by Particle Filtering. CCTA (2023)
Anuj Tiwari, Karl Berntorp, Stefano Di Cairano, Marcel Menner
Personalized Routing using Crowdsourced Connected Vehicle Data. CCTA (2023)
Sean Vaskov, Rien Quirynen, Marcel Menner, Karl Berntorp
Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles. CoRR (2023)
Marcel Menner, Karl Berntorp, Stefano Di Cairano
Automated Controller Calibration by Kalman Filtering. IEEE Trans. Control. Syst. Technol. 31 (6) (2023)
Sixiong You, Marcus Greiff, Rien Quirynen, Shuangxuan Ran, Yebin Wang, Karl Berntorp, Ran Dai, Stefano Di Cairano
Integral Action NMPC for Tight Maneuvers of Articulated Vehicles. ACC (2023)
Karl Berntorp, Marcel Menner
Constrained Gaussian-Process State-Space Models for Online Magnetic-Field Estimation. FUSION (2023)
Sean Vaskov, Rien Quirynen, Marcel Menner, Karl Berntorp
Friction-Adaptive Stochastic Predictive Control for Trajectory Tracking of Autonomous Vehicles. ACC (2022)
Marcel Menner, Ankush Chakrabarty, Karl Berntorp, Stefano Di Cairano
Learning Optimization-based Control Policies Directly from Digital Twin Simulations. CCTA (2022)
Marcel Menner, Ziyi Ma, Karl Berntorp, Stefano Di Cairano
Location and Driver-Specific Vehicle Adaptation Using Crowdsourced Data. ECC (2022)
Md. Ferdous Pervej, Jianlin Guo, Kyeong Jin Kim, Kieran Parsons, Philip V. Orlik, Stefano Di Cairano, Marcel Menner, Karl Berntorp, Yukimasa Nagai, Huaiyu Dai
Mobility, Communication and Computation Aware Federated Learning for Internet of Vehicles. IV (2022)
Marcus Greiff, Karl Berntorp
Distributed Kalman Filtering: When to Share Measurements. CDC (2022)
Marcus Greiff, Stefano Di Cairano, Karl Berntorp
Dynamic Clustering for GNSS Positioning with Multiple Receivers. FUSION (2022)
Peizhao Li, Pu Wang, Karl Berntorp, Hongfu Liu
Exploiting Temporal Relations on Radar Perception for Autonomous Driving. CoRR (2022)
Karl Berntorp, Marcel Menner
Online Constrained Bayesian Inference and Learning of Gaussian-Process State-Space Models. ACC (2022)
Peizhao Li, Pu Wang, Karl Berntorp, Hongfu Liu
Exploiting Temporal Relations on Radar Perception for Autonomous Driving. CVPR (2022)
Md. Ferdous Pervej, Jianlin Guo, Kyeong Jin Kim, Kieran Parsons, Philip V. Orlik, Stefano Di Cairano, Marcel Menner, Karl Berntorp, Yukimasa Nagai, Huaiyu Dai
Mobility, Communication and Computation Aware Federated Learning for Internet of Vehicles. CoRR (2022)
Karl Berntorp, Marcus Greiff, Stefano Di Cairano
Bayesian Sensor Fusion of GNSS and Camera With Outlier Adaptation for Vehicle Positioning. FUSION (2022)
Heejin Ahn, Karl Berntorp, Pranav Inani, Arjun Jagdish Ram, Stefano Di Cairano
Reachability-Based Decision-Making for Autonomous Driving: Theory and Experiments. IEEE Trans. Control. Syst. Technol. 29 (5) (2021)
Sean Vaskov, Karl Berntorp, Rien Quirynen
Cornering Stiffness Adaptive, Stochastic Nonlinear Model Predictive Control for Vehicles. ACC (2021)
Gang Yao, Pu Wang, Karl Berntorp, Hassan Mansour, Petros Boufounos, Philip V. Orlik
Extended Object Tracking with Spatial Model Adaptation Using Automotive Radar. FUSION (2021)
Marcel Menner, Karl Berntorp, Stefano Di Cairano
A Kalman Filter for Online Calibration of Optimal Controllers. CCTA (2021)
Gang Yao, Pu Wang, Karl Berntorp, Hassan Mansour, Petros Boufounos, Philip V. Orlik
Extended Object Tracking With Automotive Radar Using B-Spline Chained Ellipses Model. ICASSP (2021)
Marcel Menner, Karl Berntorp, Stefano Di Cairano
Automated Controller Calibration by Kalman Filtering. CoRR (2021)
Marcel Menner, Karl Berntorp, Melanie N. Zeilinger, Stefano Di Cairano
Inverse Learning for Data-Driven Calibration of Model-Based Statistical Path Planning. IEEE Trans. Intell. Veh. 6 (1) (2021)
Karl Berntorp, Ankush Chakrabarty, Stefano Di Cairano
Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter. ACC (2021)
Yuxuan Xia, Pu Wang, Karl Berntorp, Lennart Svensson, Karl Granström, Hassan Mansour, Petros Boufounos, Philip V. Orlik
Learning-Based Extended Object Tracking Using Hierarchical Truncation Measurement Model With Automotive Radar. IEEE J. Sel. Top. Signal Process. 15 (4) (2021)
Karl Berntorp, Ankush Chakrabarty, Stefano Di Cairano
Vehicle Rollover Avoidance by Parameter-Adaptive Reference Governor. CDC (2021)
Karl Berntorp, Rien Quirynen, Sean Vaskov
Joint Tire-Stiffness and Vehicle-Inertial Parameter Estimation for Improved Predictive Control. ACC (2021)
Karl Berntorp
Online Bayesian inference and learning of Gaussian-process state-space models. Autom. 129 (2021)
Marcus Greiff, Karl Berntorp, Stefano Di Cairano, Kyeong Jin Kim
Mixed-Integer Linear Regression Kalman Filters for GNSS Positioning. CCTA (2021)
Karl Berntorp, Avishai Weiss, Stefano Di Cairano
Integer Ambiguity Resolution by Mixture Kalman Filter for Improved GNSS Precision. IEEE Trans. Aerosp. Electron. Syst. 56 (4) (2020)
Marcus Greiff, Anders Robertsson, Karl Berntorp
MSE-optimal measurement dimension reduction in Gaussian filtering. CCTA (2020)
Ankush Chakrabarty, Karl Berntorp, Stefano Di Cairano
Learning-based Parameter-Adaptive Reference Governors. ACC (2020)
Rien Quirynen, Karl Berntorp, Karthik Kambam, Stefano Di Cairano
Integrated Obstacle Detection and Avoidance in Motion Planning and Predictive Control of Autonomous Vehicles. ACC (2020)
Claus Danielson, Karl Berntorp, Stefano Di Cairano, Avishai Weiss
Motion-Planning for Unicycles using the Invariant-Set Motion-Planner. ACC (2020)
Yuxuan Xia, Pu Wang, Karl Berntorp, Hassan Mansour, Petros Boufounos, Philip V. Orlik
Extended Object Tracking Using Hierarchical Truncation Model with Partial-View Measurements. SAM (2020)
Karl Berntorp, Richard Bai, Karl F. Erliksson, Claus Danielson, Avishai Weiss, Stefano Di Cairano
Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control. IEEE Trans. Intell. Veh. 5 (1) (2020)
Marcus Greiff, Karl Berntorp
Optimal Measurement Projections with Adaptive Mixture Kalman Filtering for GNSS Positioning. ACC (2020)
Claus Danielson, Karl Berntorp, Avishai Weiss, Stefano Di Cairano
Robust Motion Planning for Uncertain Systems With Disturbances Using the Invariant-Set Motion Planner. IEEE Trans. Autom. Control. 65 (10) (2020)
Marcus Greiff, Karl Berntorp, Anders Robertsson
Exploiting Linear Substructure In LRKFs (Extended). CoRR (2020)
Yuxuan Xia, Pu Wang, Karl Berntorp, Toshiaki Koike-Akino, Hassan Mansour, Milutin Pajovic, Petros Boufounos, Philip V. Orlik
Extended Object Tracking Using Hierarchical Truncation Measurement Model with Automotive Radar. ICASSP (2020)
Heejin Ahn, Karl Berntorp, Stefano Di Cairano
Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving. CDC (2020)
Marcus Greiff, Anders Robertsson, Karl Berntorp
Exploiting linear substructure in linear regression Kalman filters. CDC (2020)
Karl Berntorp, Stefano Di Cairano
Tire-Stiffness and Vehicle-State Estimation Based on Noise-Adaptive Particle Filtering. IEEE Trans. Control. Syst. Technol. 27 (3) (2019)
Marcus Greiff, Anders Robertsson, Karl Berntorp
Performance Bounds in Positioning with the VIVE Lighthouse System. FUSION (2019)
Marcel Menner, Karl Berntorp, Melanie N. Zeilinger, Stefano Di Cairano
Inverse Learning for Human-Adaptive Motion Planning. CDC (2019)
Karl Berntorp, Rien Quirynen, Stefano Di Cairano
Steering of Autonomous Vehicles Based on Friction-Adaptive Nonlinear Model-Predictive Control. ACC (2019)
Karl Berntorp
Bayesian Tire-Friction Learning by Gaussian-Process State-Space Models. ECC (2019)
Karl Berntorp
Recursive Bayesian Inference and Learning of Gaussian-Process State-Space Models. ECC (2019)
Karl Berntorp, Pranav Inani, Rien Quirynen, Stefano Di Cairano
Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation. ACC (2019)
Karl Berntorp, Tru Hoang, Stefano Di Cairano
Motion Planning of Autonomous Road Vehicles by Particle Filtering. IEEE Trans. Intell. Veh. 4 (2) (2019)
Karl Berntorp, Kitano Hiroaki
Bayesian Learning of Tire Friction with Automotive-Grade Sensors by Gaussian-Process State-Space Models. CDC (2019)
Karl Berntorp, Stefano Di Cairano
Particle Filtering for Automotive: A survey. FUSION (2019)
Karl Berntorp, Avishai Weiss, Stefano Di Cairano
GNSS Ambiguity Resolution by Adaptive Mixture Kalman Filter. FUSION (2018)
Marcus Greiff, Karl Berntorp
Evaluation of the Discrete Time Feedback Particle Filter for IMU-Driven Systems Configured on SE(2). ACC (2018)
Heejin Ahn, Karl Berntorp, Stefano Di Cairano
Reachability-based Decision Making for City Driving. ACC (2018)
Karl Berntorp
Comparison of Gain Function Approximation Methods in the Feedback Particle Filter. FUSION (2018)
Karl Berntorp, Tru Hoang, Rien Quirynen, Stefano Di Cairano
Control Architecture Design for Autonomous Vehicles. CCTA (2018)
Rien Quirynen, Karl Berntorp, Stefano Di Cairano
Embedded Optimization Algorithms for Steering in Autonomous Vehicles based on Nonlinear Model Predictive Control. ACC (2018)
Karl Berntorp, Stefano Di Cairano
Offset and Noise Estimation of Automotive-Grade Sensors Using Adaptive Particle Filtering. ACC (2018)
Karl Berntorp, Claus Danielson, Avishai Weiss, Stefano Di Cairano
Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control. CDC (2018)
Karl Berntorp, Stefano Di Cairano
Approximate Noise-Adaptive Filtering Using Student-t Distributions. ACC (2018)
Karl Berntorp, Piyush Grover
Feedback Particle Filter With Data-Driven Gain-Function Approximation. IEEE Trans. Aerosp. Electron. Syst. 54 (5) (2018)
Karl Berntorp
Path planning and integrated collision avoidance for autonomous vehicles. ACC (2017)
Karl Berntorp, Avishai Weiss, Claus Danielson, Ilya V. Kolmanovsky, Stefano Di Cairano
Automated driving: Safe motion planning using positively invariant sets. ITSC (2017)
Kazuhide Okamoto, Karl Berntorp, Stefano Di Cairano
Similarity-based vehicle-motion prediction. ACC (2017)
Claus Danielson, Avishai Weiss, Karl Berntorp, Stefano Di Cairano
Path Planning using Positive Invariant Sets. CoRR (2017)
Oktay Arslan, Karl Berntorp, Panagiotis Tsiotras
Sampling-based algorithms for optimal motion planning using closed-loop prediction. ICRA (2017)
Avishai Weiss, Claus Danielson, Karl Berntorp, Ilya V. Kolmanovsky, Stefano Di Cairano
Motion planning with invariant set trees. CCTA (2017)
Uros Kalabic, Karl Berntorp, Stefano Di Cairano
Constraint-enforcing controller for both autonomous and assisted steering (Invited paper). CCTA (2017)
Karl Berntorp, Stefano Di Cairano
Particle filtering for online motion planning with task specifications. ACC (2016)
Karl Berntorp, Stefano Di Cairano
Process-noise adaptive particle filtering with dependent process and measurement noise. CDC (2016)
Oktay Arslan, Karl Berntorp, Panagiotis Tsiotras
Sampling-based Algorithms for Optimal Motion Planning Using Closed-loop Prediction. CoRR (2016)
Karl Berntorp, Piyush Grover
Data-driven gain computation in the feedback particle filter. ACC (2016)
Karl Berntorp
Joint Wheel-Slip and Vehicle-Motion Estimation Based on Inertial, GPS, and Wheel-Speed Sensors. IEEE Trans. Control. Syst. Technol. 24 (3) (2016)
Karl Berntorp, Stefano Di Cairano
Tire-stiffness estimation by marginalized adaptive particle filter. CDC (2016)
Claus Danielson, Avishai Weiss, Karl Berntorp, Stefano Di Cairano
Path planning using positive invariant sets. CDC (2016)
Stefano Di Cairano, Uros V. Kalabic, Karl Berntorp
Vehicle tracking control on piecewise-clothoidal trajectories by MPC with guaranteed error bounds. CDC (2016)
Karl Berntorp, Fredrik Magnusson
Hierarchical predictive control for ground-vehicle maneuvering. ACC (2015)
Karl Berntorp
Particle filter for combined wheel-slip and vehicle-motion estimation. ACC (2015)
Karl Berntorp
Feedback particle filter: Application and evaluation. FUSION (2015)
Karl Berntorp, Bjorn Olofsson, Anders Robertsson
Path tracking with obstacle avoidance for pseudo-omnidirectional mobile robots using convex optimization. ACC (2014)
Karl Berntorp, Anders Robertsson, Karl-Erik Årzén
Rao-Blackwellized Particle Filters With Out-of-Sequence Measurement Processing. IEEE Trans. Signal Process. 62 (24) (2014)
Karl Berntorp, Bjorn Olofsson, Bo Bernhardsson, Kristoffer Lundahl, Lars Nielsen
Models and methodology for optimal vehicle maneuvers applied to a hairpin turn. ACC (2013)
Karl Berntorp, Anders Robertsson, Karl-Erik Årzén
Rao-blackwellized out-of-sequence processing for mixed linear/nonlinear state-space models. FUSION (2013)
Jerker Nordh, Karl Berntorp
Extending the Occupancy Grid Concept for Low-Cost Sensor Based SLAM. SyRoCo (2012)
Karl Berntorp, Karl-Erik Årzén, Anders Robertsson
Mobile manipulation with a kinematically redundant manipulator for a pick-and-place scenario. CCA (2012)
Karl Berntorp, Karl-Erik Årzén, Anders Robertsson
Storage efficient particle filters with multiple out-of-sequence measurements. FUSION (2012)