Karl Berntorp

- Phone: 617-621-7583
- Email:
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Position:
Research / Technical Staff
Senior Principal Research Scientist -
Education:
Ph.D., Lund University, 2014 -
Research Areas:
External Links:
Karl's Quick Links
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Biography
Karl's research interests include statistical signal processing, Bayesian inference and learning, sensor fusion, and optimization-based control, with applications to automotive, transportation, navigation, positioning, and communication systems. Karl is an Associate Editor and member of the IEEE Technology Conferences Editorial Board.
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Recent News & Events
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TALK [MERL Seminar Series 2021] Prof. Thomas Schön presents talk at MERL entitled Deep probabilistic regression Date & Time: Tuesday, November 16, 2021; 11:00 AM EST
Speaker: Thomas Schön, Uppsala University
MERL Host: Karl Berntorp
Research Areas: Dynamical Systems, Machine LearningAbstractWhile deep learning-based classification is generally addressed using standardized approaches, this is really not the case when it comes to the study of regression problems. There are currently several different approaches used for regression and there is still room for innovation. We have developed a general deep regression method with a clear probabilistic interpretation. The basic building block in our construction is an energy-based model of the conditional output density p(y|x), where we use a deep neural network to predict the un-normalized density from input-output pairs (x, y). Such a construction is also commonly referred to as an implicit representation. The resulting learning problem is challenging and we offer some insights on how to deal with it. We show good performance on several computer vision regression tasks, system identification problems and 3D object detection using laser data.
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NEWS Rien Quirynen and Karl Berntorp to deliver keynote at IFAC NMPC 2021 Conference Date: July 12, 2021
MERL Contacts: Karl Berntorp; Rien Quirynen
Research Areas: Control, Dynamical Systems, OptimizationBrief- MERL researcher Rien Quirynen will present work in collaboration with Karl Berntorp on "Uncertainty Propagation by Linear Regression Kalman Filters for Stochastic Nonlinear MPC" as a keynote speaker at the 7th IFAC Conference on Nonlinear Model Predictive Control 2021 on July, 12th. The paper is 1 out of 5 keynote presentations chosen among more than 50 accepted papers at the conference. An abstract of the talk can be found in the link below.
See All News & Events for Karl -
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Awards
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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 ProcessingBrief- 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 Karl
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CA1726: Distributed Estimation for Autonomous Systems
MERL is seeking a highly motivated and qualified intern to collaborate with the Control for Autonomy team in developing estimation methods with applications to multi-vehicle positioning. The ideal candidate is a PhD candidate with strong emphasis in estimation and control, and as interest and background in several of: bayesian inference, machine learning, maximum-likelihood estimation, optimization, distributed systems, and vehicle modeling and control. Good programming skills in MATLAB, Python, or C/C++ are required. The expected start of of the internship is in 2022 and flexible for a duration of 3-6 months.
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MERL Publications
- "Mobility, Communication and Computation Aware Federated Learning for Internet of Vehicles", arXiv, May 2022.BibTeX arXiv
- @article{Pervej2022apr,
- author = {Pervej, Md Ferdous and Guo, Jianlin and Kim, Kyeong Jin and Parsons, Kieran and Orlik, Philip V. and Di Cairano, Stefano and Menner, Marcel and Berntorp, Karl and Nagai, Yukimasa and Dai, Huaiyu},
- title = {Mobility, Communication and Computation Aware Federated Learning for Internet of Vehicles},
- journal = {arXiv},
- year = 2022,
- month = may,
- url = {https://arxiv.org/abs/2205.09529}
- }
, - "Exploiting Temporal Relations on Radar Perception for Autonomous Driving", arXiv, April 2022. ,
- "Vehicle Rollover Avoidance by Parameter-Adaptive Reference Governor", IEEE Annual Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9683770, December 2021, pp. 635-640.BibTeX TR2021-151 PDF
- @inproceedings{Berntorp2021dec,
- author = {Berntorp, Karl and Chakrabarty, Ankush and Di Cairano, Stefano},
- title = {Vehicle Rollover Avoidance by Parameter-Adaptive Reference Governor},
- booktitle = {IEEE Annual Conference on Decision and Control (CDC)},
- year = 2021,
- pages = {635--640},
- month = dec,
- doi = {10.1109/CDC45484.2021.9683770},
- url = {https://www.merl.com/publications/TR2021-151}
- }
, - "Automated Controller Calibration by Kalman Filtering", arXiv, November 2021. ,
- "Extended Object Tracking with Spatial Model Adaptation Using Automotive Radar", International Conference on Information Fusion (FUSION), November 2021, pp. 1-8.BibTeX TR2021-138 PDF
- @inproceedings{Yao2021nov,
- author = {Yao, Gang and WANG, PU and Berntorp, Karl and Mansour, Hassan and Boufounos, Petros T. and Orlik, Philip V.},
- title = {Extended Object Tracking with Spatial Model Adaptation Using Automotive Radar},
- booktitle = {International Conference on Information Fusion (FUSION)},
- year = 2021,
- pages = {1--8},
- month = nov,
- isbn = {IEEE Xplore},
- url = {https://www.merl.com/publications/TR2021-138}
- }
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- "Mobility, Communication and Computation Aware Federated Learning for Internet of Vehicles", arXiv, May 2022.
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Other Publications
- "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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}
- }
, - "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
- }
, - "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}
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
, - "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
- }
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- "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.
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Videos
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Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving
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Experimental Validation of Reachability-based Decision Making for Autonomous Driving
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MPC control and particle filter-based planning demonstration using mini-cars
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Particle filter-based planning demonstration using mini-cars
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MERL Celebrates 25 Years of Innovation
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MERL Research on Autonomous Vehicles
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Car Path Planning
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MERL Issued Patents
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Title: "System and Method for Integer-Less GNSS Positioning"
Inventors: Berntorp, Karl; Greiff, Marcus
Patent No.: 11,340,356
Issue Date: May 24, 2022 -
Title: "Adaptive Control of Autonomous or Semi-Autonomous Vehicle"
Inventors: Berntorp, Karl; Di Cairano, Stefano; Menner, Marcel
Patent No.: 11,327,492
Issue Date: May 10, 2022 -
Title: "Friction Adaptive Vehicle Control"
Inventors: Berntorp, Karl; Quirynen, Rien; Di Cairano, Stefano
Patent No.: 11,254,315
Issue Date: Feb 22, 2022 -
Title: "System and Method for Determining Friction Curve of Tire"
Inventors: Berntorp, Karl
Patent No.: 11,203,354
Issue Date: Dec 21, 2021 -
Title: "System and Method for Controlling Lateral Motion of Vehicle"
Inventors: Berntorp, Karl; Weiss, Avishai; Danielson, Claus; Di Cairano, Stefano
Patent No.: 10,994,729
Issue Date: May 4, 2021 -
Title: "System and Method for GNSS Ambiguity Resolution"
Inventors: Berntorp, Karl; Weiss, Avishai; Di Cairano, Stefano
Patent No.: 10,976,444
Issue Date: Apr 13, 2021 -
Title: "Systems and Methods for Safe Decision Making of Autonomous Vehicles"
Inventors: Berntorp, Karl; Di Cairano, Stefano; Ahn, Heejin
Patent No.: 10,860,023
Issue Date: Dec 8, 2020 -
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
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Title: "System and Method for Integer-Less GNSS Positioning"