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

    • CA1869: Learning for Connected Vehicles and Smart Cities

      MERL is seeking a research intern to collaborate with the Control for Autonomy team in the development of learning for connected vehicles and/or smart cities. The intern will develop technologies for optimizing Advanced Driver Assistance Systems (ADAS) and/or for learning road conditions and to leverage such information using data-sharing between vehicles. The ideal candidate has knowledge of at least one of machine learning, statistical estimation, connected vehicles, and vehicle control systems. Knowledge of one or more traffic and/or multi-vehicle simulators (SUMO, etc.) is a plus. Good programming skills in Matlab or Python are required. PhD students in engineering, mathematics, or similar are encouraged to apply. 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), August 2022.
      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,
      • month = aug,
      • 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), June 2022.
      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,
      • month = jun,
      • 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), June 2022.
      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,
      • month = jun,
      • 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}
      • }
  • 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