Publications

109 / 3,948 publications found.


  •  Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., "Decision Making for Automated Driving by Reachability of Parameterized Maneuvers", World Congress of the International Federation of Automatic Control (IFAC), Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M., Eds., DOI: 10.1016/​j.ifacol.2023.10.018, July 2023, pp. 7852-7857.
    BibTeX TR2023-084 PDF
    • @inproceedings{DiCairano2023jul,
    • author = {{Di Cairano}, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl},
    • title = {{Decision Making for Automated Driving by Reachability of Parameterized Maneuvers}},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2023,
    • editor = {Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M.},
    • pages = {7852--7857},
    • month = jul,
    • publisher = {Elsevier},
    • doi = {10.1016/j.ifacol.2023.10.018},
    • url = {https://www.merl.com/publications/TR2023-084}
    • }
  •  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), Hideaki Ishii and Yoshio Ebihara and Jun-ichi Imura and Masaki Yamakita, Eds., DOI: 10.1016/​j.ifacol.2023.10.911, July 2023, pp. 10276-10282.
    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,
    • editor = {Hideaki Ishii and Yoshio Ebihara and Jun-ichi Imura and Masaki Yamakita},
    • pages = {10276--10282},
    • month = jul,
    • publisher = {Elsevier},
    • doi = {10.1016/j.ifacol.2023.10.911},
    • issn = {2405-8963},
    • url = {https://www.merl.com/publications/TR2023-083}
    • }
  •  Berntorp, K., Menner, M., "Constrained Gaussian-Process State-Space Models for Online Magnetic-Field Estimation", International Conference on Information Fusion (FUSION), DOI: 10.23919/​FUSION52260.2023.10224137, June 2023.
    BibTeX TR2023-075 PDF
    • @inproceedings{Berntorp2023jun2,
    • author = {Berntorp, Karl and Menner, Marcel},
    • title = {{Constrained Gaussian-Process State-Space Models for Online Magnetic-Field Estimation}},
    • booktitle = {International Conference on Information Fusion (FUSION)},
    • year = 2023,
    • month = jun,
    • doi = {10.23919/FUSION52260.2023.10224137},
    • url = {https://www.merl.com/publications/TR2023-075}
    • }
  •  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), DOI: 10.23919/​FUSION52260.2023.10224204, June 2023, pp. 1-8.
    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,
    • pages = {1--8},
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/FUSION52260.2023.10224204},
    • isbn = {979-8-89034-485-4},
    • url = {https://www.merl.com/publications/TR2023-074}
    • }
  •  Vaskov, S., Quirynen, R., Menner, M., Berntorp, K., "Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles", Vehicle System Dynamics, DOI: 10.1080/​00423114.2023.2219791, May 2023.
    BibTeX TR2023-064 PDF
    • @article{Vaskov2023may2,
    • author = {Vaskov, Sean and Quirynen, Rien and Menner, Marcel and Berntorp, Karl},
    • title = {{Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles}},
    • journal = {Vehicle System Dynamics},
    • year = 2023,
    • month = may,
    • doi = {10.1080/00423114.2023.2219791},
    • url = {https://www.merl.com/publications/TR2023-064}
    • }
  •  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}
    • }
  •  Menner, M., Berntorp, K., Di Cairano, S., "Automated Controller Calibration by Kalman Filtering", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2023.3254213, Vol. 31, No. 6, pp. 2350-2364, April 2023.
    BibTeX TR2023-022 PDF
    • @article{Menner2023apr,
    • author = {Menner, Marcel and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{Automated Controller Calibration by Kalman Filtering}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2023,
    • volume = 31,
    • number = 6,
    • pages = {2350--2364},
    • month = apr,
    • doi = {10.1109/TCST.2023.3254213},
    • url = {https://www.merl.com/publications/TR2023-022}
    • }
  •  Chakrabarty, A., Berntorp, K., Di Cairano, S., "Parameter-Adaptive Reference Governors with Learned Robust Constraint-Admissible Sets", Control Engineering Practice, DOI: 10.1016/​j.conengprac.2023.105450, Vol. 133, February 2023.
    BibTeX TR2023-005 PDF
    • @article{Chakrabarty2023feb,
    • author = {Chakrabarty, Ankush and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{Parameter-Adaptive Reference Governors with Learned Robust Constraint-Admissible Sets}},
    • journal = {Control Engineering Practice},
    • year = 2023,
    • volume = 133,
    • month = feb,
    • doi = {10.1016/j.conengprac.2023.105450},
    • url = {https://www.merl.com/publications/TR2023-005}
    • }
  •  Greiff, M., Berntorp, K., "Distributed Kalman Filtering: When to Share Measurements", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC51059.2022.9993404, December 2022, pp. 5399-5404.
    BibTeX TR2022-158 PDF
    • @inproceedings{Greiff2022dec,
    • author = {Greiff, Marcus and Berntorp, Karl},
    • title = {{Distributed Kalman Filtering: When to Share Measurements}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2022,
    • pages = {5399--5404},
    • month = dec,
    • publisher = {IEEE},
    • doi = {10.1109/CDC51059.2022.9993404},
    • issn = {2576-2370},
    • isbn = {978-1-6654-6761-2},
    • url = {https://www.merl.com/publications/TR2022-158}
    • }
  •  Zawislak, R., Greiff, M., Kim, K.J., Berntorp, K., Di Cairano, S., Mao, K., Parsons, K., Orlik, P.V., Sato, Y., "GNSS Multipath Detection Aided by Unsupervised Domain Adaptation", ION-GNSS+ Conference, DOI: 10.33012/​2022.18333, September 2022, pp. 2127-2137.
    BibTeX TR2022-118 PDF
    • @inproceedings{Zawislak2022sep,
    • author = {Zawislak, Remy and Greiff, Marcus and Kim, Kyeong Jin and Berntorp, Karl and {Di Cairano}, Stefano and Mao, Konishi and Parsons, Kieran and Orlik, Philip V. and Sato, Yuki},
    • title = {{GNSS Multipath Detection Aided by Unsupervised Domain Adaptation}},
    • booktitle = {ION-GNSS+ Conference},
    • year = 2022,
    • pages = {2127--2137},
    • month = sep,
    • publisher = {Institute of Navigation},
    • doi = {10.33012/2022.18333},
    • url = {https://www.merl.com/publications/TR2022-118}
    • }
  •  Elango, P., Di Cairano, S., Berntorp, K., Weiss, A., "Sequential linearization-based station keeping with optical navigation for NRHO", AAS/AIAA Astrodynamics Specialist Conference, September 2022.
    BibTeX TR2022-114 PDF
    • @inproceedings{Elango2022sep,
    • author = {{{Elango, Purnanand and Di Cairano, Stefano and Berntorp, Karl and Weiss, Avishai}}},
    • title = {{{Sequential linearization-based station keeping with optical navigation for NRHO}}},
    • booktitle = {AAS/AIAA Astrodynamics Specialist Conference},
    • year = 2022,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2022-114}
    • }
  •  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}
    • }
  •  Berntorp, K., Greiff, M., Di Cairano, S., "Bayesian Sensor Fusion of GNSS and Camera With Outlier Adaptation for Vehicle Positioning", International Conference on Information Fusion (FUSION), DOI: 10.23919/​FUSION49751.2022.9841302, July 2022, pp. 1-8.
    BibTeX TR2022-093 PDF
    • @inproceedings{Berntorp2022jul,
    • author = {Berntorp, Karl and Greiff, Marcus and {Di Cairano}, Stefano},
    • title = {{Bayesian Sensor Fusion of GNSS and Camera With Outlier Adaptation for Vehicle Positioning}},
    • booktitle = {International Conference on Information Fusion (FUSION)},
    • year = 2022,
    • pages = {1--8},
    • month = jul,
    • doi = {10.23919/FUSION49751.2022.9841302},
    • isbn = {978-1-7377497-2-1},
    • url = {https://www.merl.com/publications/TR2022-093}
    • }
  •  Greiff, M., Di Cairano, S., Berntorp, K., "Dynamic Clustering for GNSS Positioning with Multiple Receivers", International Conference on Information Fusion (FUSION), DOI: 10.23919/​FUSION49751.2022.9841289, July 2022, pp. 1-7.
    BibTeX TR2022-094 PDF
    • @inproceedings{Greiff2022jul,
    • author = {Greiff, Marcus and {Di Cairano}, Stefano and Berntorp, Karl},
    • title = {{Dynamic Clustering for GNSS Positioning with Multiple Receivers}},
    • booktitle = {International Conference on Information Fusion (FUSION)},
    • year = 2022,
    • pages = {1--7},
    • month = jul,
    • doi = {10.23919/FUSION49751.2022.9841289},
    • isbn = {978-1-6654-8941-6},
    • url = {https://www.merl.com/publications/TR2022-094}
    • }
  •  Li, P., Wang, P., Berntorp, K., Liu, H., "Exploiting Temporal Relations on Radar Perception for Autonomous Driving", IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2022.
    BibTeX TR2022-069 PDF
    • @inproceedings{Li2022jun,
    • author = {Li, Peizhao and Wang, Pu and Berntorp, Karl and Liu, Hongwu},
    • title = {{Exploiting Temporal Relations on Radar Perception for Autonomous Driving}},
    • booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
    • year = 2022,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2022-069}
    • }
  •  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}
    • }
  •  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}
    • }
  •  Pervej, M.F., Guo, J., Kim, K.J., Parsons, K., Orlik, P.V., Di Cairano, S., Menner, M., Berntorp, K., Nagai, Y., Dai, H., "Mobility, Communication and Computation Aware Federated Learning for Internet of Vehicles", IEEE Intelligent Vehicles Symposium (IV), June 2022.
    BibTeX TR2022-079 PDF
    • @inproceedings{Pervej2022jun,
    • 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}},
    • booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
    • year = 2022,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2022-079}
    • }
  •  Berntorp, K., Chakrabarty, A., Di Cairano, S., "Vehicle Rollover Avoidance by Parameter-Adaptive Reference Governor", IEEE 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 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}
    • }
  •  Yao, G., WANG, P., Berntorp, K., Mansour, H., Boufounos, P.T., Orlik, P.V., "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 = {978-1-6654-1427-2},
    • url = {https://www.merl.com/publications/TR2021-138}
    • }
  •  Greiff, M., Berntorp, K., Di Cairano, S., Kim, K.J., "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}
    • }
  •  Menner, M., Berntorp, K., Di Cairano, S., "A Kalman Filter for Online Calibration of Optimal Controllers", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA48906.2021.9658684, August 2021, pp. 441-446.
    BibTeX TR2021-091 PDF
    • @inproceedings{Menner2021aug,
    • author = {Menner, Marcel and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{A Kalman Filter for Online Calibration of Optimal Controllers}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2021,
    • pages = {441--446},
    • month = aug,
    • doi = {10.1109/CCTA48906.2021.9658684},
    • url = {https://www.merl.com/publications/TR2021-091}
    • }
  •  Quirynen, R., Berntorp, K., "Uncertainty Propagation by Linear Regression Kalman Filters for Stochastic NMPC", IFAC Conference on Nonlinear Model Predictive Control, DOI: 10.1016/​j.ifacol.2021.08.527, July 2021, pp. 76-82.
    BibTeX TR2021-084 PDF
    • @inproceedings{Quirynen2021jul,
    • author = {Quirynen, Rien and Berntorp, Karl},
    • title = {{Uncertainty Propagation by Linear Regression Kalman Filters for Stochastic NMPC}},
    • booktitle = {IFAC Conference on Nonlinear Model Predictive Control},
    • year = 2021,
    • pages = {76--82},
    • month = jul,
    • doi = {10.1016/j.ifacol.2021.08.527},
    • url = {https://www.merl.com/publications/TR2021-084}
    • }
  •  Yao, G., Wang, P., Berntorp, K., Mansour, H., Boufounos, P.T., Orlik, P.V., "Extended Object Tracking with Automotive Radar Using B-Spline Chained Ellipses Model", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), DOI: 10.1109/​ICASSP39728.2021.9415080, June 2021, pp. 8408-8412.
    BibTeX TR2021-048 PDF Video
    • @inproceedings{Yao2021jun,
    • 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 Automotive Radar Using B-Spline Chained Ellipses Model}},
    • booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
    • year = 2021,
    • pages = {8408--8412},
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.1109/ICASSP39728.2021.9415080},
    • issn = {2379-190X},
    • isbn = {978-1-7281-7605-5},
    • url = {https://www.merl.com/publications/TR2021-048}
    • }