People - Marcus Greiff | Mitsubishi Electric Research Laboratories

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
- NEWS MERL researchers present 10 papers at the American Control Conference (ACC)
  Date: May 31, 2023 - June 2, 2023
  Where: San Diego, CA
  MERL Contacts: Karl Berntorp; Ankush Chakrabarty; Vedang M. Deshpande; Stefano Di Cairano; Marcus Greiff; Devesh K. Jha; Christopher R. Laughman; Rien Quirynen; Arvind Raghunathan; Diego Romeres; Abraham P. Vinod; Yebin Wang; Avishai Weiss
  Research Areas: Control, Machine Learning, Optimization
  Brief
  - MERL will present 10 papers at the American Control Conference (ACC) in San Diego, CA, with topics including autonomous-vehicle decision making and control, physics-informed machine learning, motion planning, control subject to nonconvex chance constraints, and optimal power management. Two talks are part of tutorial sessions.
    MERL will also be present at the conference as a sponsor, with a booth for discussing with researchers and students, and hosting a special session at lunch with highlights of MERL research and work philosophy.
- NEWS MERL Researchers Presented Six Papers at the 2022 IEEE Conference on Decision and Control (CDC’22)
  Date: December 6, 2022 - December 9, 2022
  Where: Cancún, Mexico
  MERL Contacts: Mouhacine Benosman; Karl Berntorp; Ankush Chakrabarty; Marcus Greiff; Devesh K. Jha; Arvind Raghunathan; Diego Romeres; Yebin Wang
  Research Areas: Control, Optimization
  Brief
  - MERL researchers presented six papers at the Conference on Decision and Control that was held in Cancún, Mexico from December 6-9, 2022. The papers covered a broad range of topics in the areas of decision making and control, including Bayesian optimization, quadratic programming, solution of differential equations, distributed Kalman filtering, thermal monitoring of batteries, and closed-loop control optimization.
See All News & Events for Marcus
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.
- 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.
See All Awards for MERL
MERL Publications
- 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), July 2023.
  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,
  - month = jul,
  - 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), July 2023.
  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,
  - month = jul,
  - 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), June 2023.
  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,
  - month = jun,
  - url = {https://www.merl.com/publications/TR2023-074}
  - }
- 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., 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}
  - }
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

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Marcus Greiff

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