Marcel Menner

Marcel Menner
  • Biography

    Marcel's research interests include optimization-based control, machine learning, learning from human interactions, as well as their applications to vehicles and robots. During his Ph.D. research, he developed data-based control methodologies for improving the operation of dynamical systems.

  • Recent News & Events

  • Internships with Marcel

    • CA1929: Driver Classification for Future Mobility

      MERL is looking for an intern to conduct research on driver classification/characterization for electrified, connected, or sustainable mobility. The intern will develop modeling techniques for optimizing/personalizing the operation of electric vehicles using driver data and/or crowdsourced data. The ideal candidate will have experience in either one or multiple of the following topics: vehicle control, energy management of electric vehicle, statistical estimation, connected vehicles, machine learning, numerical optimization, and reinforcement learning. Good programming skills in MATLAB or Python are required. Knowledge of one or more traffic and/or multi-vehicle simulators (SUMO, etc.) is a plus. Graduate students in engineering, mathematics, or similar quantitative disciplines are encouraged to apply. Publication of relevant results in conference proceedings or journals is encouraged and expected. The expected duration of the internship is 3-6 months. The start date is flexible.

    See All Internships at MERL
  • MERL Publications

    •  Menner, M., Chakrabarty, A., Berntorp, K., Di Cairano, S., "Learning Optimization-based Control Policies Directly from Digital Twin Simulations", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA49430.2022.9966077, August 2022, pp. 895-900.
      BibTeX TR2022-108 PDF
      • @inproceedings{Menner2022aug,
      • author = {Menner, Marcel and Chakrabarty, Ankush and Berntorp, Karl and Di Cairano, Stefano},
      • title = {Learning Optimization-based Control Policies Directly from Digital Twin Simulations},
      • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
      • year = 2022,
      • pages = {895--900},
      • month = aug,
      • doi = {10.1109/CCTA49430.2022.9966077},
      • url = {https://www.merl.com/publications/TR2022-108}
      • }
    •  Menner, M., Ma, Z., Berntorp, K., Di Cairano, S., "Location and Driver-Specific Vehicle Adaptation Using Crowdsourced Data", European Control Conference (ECC), DOI: 10.23919/​ECC55457.2022.9838135, July 2022, pp. 769-774.
      BibTeX TR2022-095 PDF
      • @inproceedings{Menner2022jul,
      • author = {Menner, Marcel and Ma, Ziyi and Berntorp, Karl and Di Cairano, Stefano},
      • title = {Location and Driver-Specific Vehicle Adaptation Using Crowdsourced Data},
      • booktitle = {European Control Conference (ECC)},
      • year = 2022,
      • pages = {769--774},
      • month = jul,
      • doi = {10.23919/ECC55457.2022.9838135},
      • url = {https://www.merl.com/publications/TR2022-095}
      • }
    •  Schperberg, A., Di Cairano, S., Menner, M., "Auto-Tuning of Controller and Online Trajectory Planner for Legged Robots", IEEE Robotics and Automation Letters, DOI: 10.1109/​LRA.2022.3185387, Vol. 7, No. 3, pp. 7802-7809, June 2022.
      BibTeX TR2022-085 PDF
      • @article{Schperberg2022jun,
      • author = {Schperberg, Alexander and Di Cairano, Stefano and Menner, Marcel},
      • title = {Auto-Tuning of Controller and Online Trajectory Planner for Legged Robots},
      • journal = {IEEE Robotics and Automation Letters},
      • year = 2022,
      • volume = 7,
      • number = 3,
      • pages = {7802--7809},
      • month = jun,
      • doi = {10.1109/LRA.2022.3185387},
      • url = {https://www.merl.com/publications/TR2022-085}
      • }
    •  Vaskov, S., Quirynen, R., Menner, M., Berntorp, K., "Friction-Adaptive Stochastic Predictive Control for Trajectory Tracking of Autonomous Vehicles", American Control Conference (ACC), DOI: 10.23919/​ACC53348.2022.9867523, June 2022, pp. 1970-1975.
      BibTeX TR2022-065 PDF
      • @inproceedings{Vaskov2022jun,
      • author = {Vaskov, Sean and Quirynen, Rien and Menner, Marcel and Berntorp, Karl},
      • title = {Friction-Adaptive Stochastic Predictive Control for Trajectory Tracking of Autonomous Vehicles},
      • booktitle = {American Control Conference (ACC)},
      • year = 2022,
      • pages = {1970--1975},
      • month = jun,
      • doi = {10.23919/ACC53348.2022.9867523},
      • url = {https://www.merl.com/publications/TR2022-065}
      • }
    •  Berntorp, K., Menner, M., "Online Constrained Bayesian Inference and Learning of Gaussian-Process State-Space Models", American Control Conference (ACC), DOI: 10.23919/​ACC53348.2022.9867635, June 2022, pp. 940-945.
      BibTeX TR2022-066 PDF
      • @inproceedings{Berntorp2022jun,
      • author = {Berntorp, Karl and Menner, Marcel},
      • title = {Online Constrained Bayesian Inference and Learning of Gaussian-Process State-Space Models},
      • booktitle = {American Control Conference (ACC)},
      • year = 2022,
      • pages = {940--945},
      • month = jun,
      • doi = {10.23919/ACC53348.2022.9867635},
      • url = {https://www.merl.com/publications/TR2022-066}
      • }
    See All Publications for Marcel
  • Other Publications

    •  Lukas Hewing, Kim P Wabersich, Marcel Menner and Melanie N Zeilinger, "Learning-based model predictive control: Toward safe learning in control", Annual Review of Control, Robotics, and Autonomous Systems, Vol. 3, pp. 269-296, 2020.
      BibTeX
      • @Article{hewing2020learning,
      • author = {Hewing, Lukas and Wabersich, Kim P and Menner, Marcel and Zeilinger, Melanie N},
      • title = {Learning-based model predictive control: Toward safe learning in control},
      • journal = {Annual Review of Control, Robotics, and Autonomous Systems},
      • year = 2020,
      • volume = 3,
      • pages = {269--296}
      • }
    •  Marcel Menner, Lukas Neuner, Lars Lünenburger and Melanie N Zeilinger, "Using Human Ratings for Feedback Control: A Supervised Learning Approach With Application to Rehabilitation Robotics", IEEE Transactions on Robotics, Vol. 36, No. 3, pp. 789-801, 2020.
      BibTeX
      • @Article{menner2020using,
      • author = {Menner, Marcel and Neuner, Lukas and L{\"u}nenburger, Lars and Zeilinger, Melanie N},
      • title = {Using Human Ratings for Feedback Control: A Supervised Learning Approach With Application to Rehabilitation Robotics},
      • journal = {IEEE Transactions on Robotics},
      • year = 2020,
      • volume = 36,
      • number = 3,
      • pages = {789--801}
      • }
    •  Marcel Menner, Peter Worsnop and Melanie N Zeilinger, "Constrained inverse optimal control with application to a human manipulation task", IEEE Transactions on Control Systems Technology, 2019.
      BibTeX
      • @Article{menner2019constrained,
      • author = {Menner, Marcel and Worsnop, Peter and Zeilinger, Melanie N},
      • title = {Constrained inverse optimal control with application to a human manipulation task},
      • journal = {IEEE Transactions on Control Systems Technology},
      • year = 2019
      • }
    •  Marcel Menner, Anuradha M Annaswamy and Florian Holzapfel, "Robust Design of Adaptive Output Feedback Controllers for Direct Feedthrough Systems", Journal of Guidance, Control, and Dynamics, Vol. 41, No. 9, pp. 1919-1928, 2018.
      BibTeX
      • @Article{menner2018robust,
      • author = {Menner, Marcel and Annaswamy, Anuradha M and Holzapfel, Florian},
      • title = {Robust Design of Adaptive Output Feedback Controllers for Direct Feedthrough Systems},
      • journal = {Journal of Guidance, Control, and Dynamics},
      • year = 2018,
      • volume = 41,
      • number = 9,
      • pages = {1919--1928}
      • }
  • Videos

  • MERL Issued Patents

    • 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
    See All Patents for MERL