Marcus Greiff
- Phone: 617-621-7526
- Email:
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Position:
Research / Technical Staff
Visiting Research Scientist -
Education:
Ph.D., Lund University, 2021 -
Research Areas:
Marcus' Quick Links
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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.
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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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MERL Publications
- , "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}
- }
- , "Exploiting linear substructure in linear regression Kalman filters", IEEE Annual 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 Annual Conference on Decision and Control (CDC)},
- year = 2020,
- month = dec,
- doi = {10.1109/CDC42340.2020.9304191},
- url = {https://www.merl.com/publications/TR2020-171}
- }
- , "MSE-optimal measurement dimension reduction in Gaussian filtering*", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA41146.2020.9206162, August 2020.BibTeX TR2020-124 PDF
- @inproceedings{Greiff2020aug,
- author = {Greiff, Marcus and Robertsson, Anders and Berntorp, Karl},
- title = {MSE-optimal measurement dimension reduction in Gaussian filtering*},
- booktitle = {Conference on Control Technology and Applications (CCTA)},
- year = 2020,
- month = aug,
- doi = {10.1109/CCTA41146.2020.9206162},
- isbn = {978-1-7281-7141-8},
- url = {https://www.merl.com/publications/TR2020-124}
- }
- , "Optimal Measurement Projections with Adaptive Mixture Kalman Filtering for GNSS Positioning", American Control Conference (ACC), DOI: 10.23919/ACC45564.2020.9147675, July 2020, pp. 4435-4441.BibTeX TR2020-097 PDF
- @inproceedings{Greiff2020jul,
- author = {Greiff, Marcus and Berntorp, Karl},
- title = {Optimal Measurement Projections with Adaptive Mixture Kalman Filtering for GNSS Positioning},
- booktitle = {American Control Conference (ACC)},
- year = 2020,
- pages = {4435--4441},
- month = jul,
- doi = {10.23919/ACC45564.2020.9147675},
- url = {https://www.merl.com/publications/TR2020-097}
- }
- , "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}
- }
- , "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.
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Other Publications
- , "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
- }
- , "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}
- }
- , "Quadrotor Control on SU(2) x R^3 with SLAM Integration", 2021.
- , 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
- }
- , "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}
- }
- , "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}
- }
- , "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}
- }
- , "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}
- }
- , "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}
- }
- , "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}
- }
- , "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}
- }
- , "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}
- }
- , 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
- }
- , "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}
- }
- , "Cooperative constrained motion coordination of networked heterogeneous vehicles", 2022.
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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
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Title: "System and Method for Integer-Less GNSS Positioning"