Publications

22 / 3,816 publications found.


  •  Schperberg, A., Menner, M., Di Cairano, S., "Energy-Efficient Motion Planner for Legged Robots", arXiv, March 2025.
    BibTeX arXiv
    • @article{Schperberg2025mar,
    • author = {Schperberg, Alexander and Menner, Marcel and {Di Cairano}, Stefano},
    • title = {{Energy-Efficient Motion Planner for Legged Robots}},
    • journal = {arXiv},
    • year = 2025,
    • month = mar,
    • url = {https://arxiv.org/abs/2503.06050}
    • }
  •  Wang, Y., Berntorp, K., Menner, M., "Physics-Informed Road Monitoring and Suspension Control using Crowdsourced Vehicle Data", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590862, June 2024, pp. 699-704.
    BibTeX TR2024-084 PDF
    • @inproceedings{Wang2024jun4,
    • author = {Wang, Yanbing and Berntorp, Karl and Menner, Marcel},
    • title = {{Physics-Informed Road Monitoring and Suspension Control using Crowdsourced Vehicle Data}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • pages = {699--704},
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590862},
    • url = {https://www.merl.com/publications/TR2024-084}
    • }
  •  Menner, M., Berntorp, K., "Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590751, June 2024, pp. 2768-2773.
    BibTeX TR2024-085 PDF
    • @inproceedings{Menner2024jun,
    • author = {Menner, Marcel and Berntorp, Karl},
    • title = {{Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • pages = {2768--2773},
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590751},
    • url = {https://www.merl.com/publications/TR2024-085}
    • }
  •  Rahman, S., Wang, Y., Menner, M., Liu, D., "Sizing of Electric Vehicle Power Converter Based on Distributed Operating Points", IEEE Transportation Electrification Conference & Expo (ITEC), DOI: 10.1109/​ITEC60657.2024.10598910, June 2024.
    BibTeX TR2024-075 PDF
    • @inproceedings{Rahman2024jun2,
    • author = {Rahman, Syed and Wang, Yebin and Menner, Marcel and Liu, Dehong},
    • title = {{Sizing of Electric Vehicle Power Converter Based on Distributed Operating Points}},
    • booktitle = {IEEE Transportation Electrification Conference \& Expo (ITEC)},
    • year = 2024,
    • month = jun,
    • doi = {10.1109/ITEC60657.2024.10598910},
    • url = {https://www.merl.com/publications/TR2024-075}
    • }
  •  Rahman, S., Liu, D., Menner, M., Wang, Y., Takegami, T., "Extended Kalman Filter-based Predictive Maintenance of High-Voltage DC/DC Converter", IEEE Industrial Electronics Society (IECON), DOI: 10.1109/​IECON51785.2023.10312019, October 2023.
    BibTeX TR2023-131 PDF
    • @inproceedings{Rahman2023oct,
    • author = {Rahman, Syed and Liu, Dehong and Menner, Marcel and Wang, Yebin and Takegami, Tomoki},
    • title = {{Extended Kalman Filter-based Predictive Maintenance of High-Voltage DC/DC Converter}},
    • booktitle = {IEEE Industrial Electronics Society (IECON)},
    • year = 2023,
    • month = oct,
    • publisher = {IEEE},
    • doi = {10.1109/IECON51785.2023.10312019},
    • issn = {2577-1647},
    • isbn = {979-8-3503-3182-0},
    • url = {https://www.merl.com/publications/TR2023-131}
    • }
  •  Menner, M., Berntorp, K., "Gaussian Processes with State-Dependent Noise for Stochastic Control", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10252506, August 2023.
    BibTeX TR2023-100 PDF
    • @inproceedings{Menner2023aug2,
    • author = {Menner, Marcel and Berntorp, Karl},
    • title = {{Gaussian Processes with State-Dependent Noise for Stochastic Control}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10252506},
    • url = {https://www.merl.com/publications/TR2023-100}
    • }
  •  Menner, M., Di Cairano, S., Hamada, M., Gushima, K., "MPC-based Pedestrian Routing for Congestion Balancing", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10252891, August 2023.
    BibTeX TR2023-099 PDF
    • @inproceedings{Menner2023aug,
    • author = {Menner, Marcel and {Di Cairano}, Stefano and Hamada, Masaki and Gushima, Kota},
    • title = {{MPC-based Pedestrian Routing for Congestion Balancing}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10252891},
    • url = {https://www.merl.com/publications/TR2023-099}
    • }
  •  Tiwari, A., Berntorp, K., Di Cairano, S., Menner, M., "Personalized Routing using Crowdsourced Connected Vehicle Data", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10253029, August 2023.
    BibTeX TR2023-095 PDF
    • @inproceedings{Tiwari2023aug,
    • author = {Tiwari, Anuj and Berntorp, Karl and {Di Cairano}, Stefano and Menner, Marcel},
    • title = {{Personalized Routing using Crowdsourced Connected Vehicle Data}},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10253029},
    • url = {https://www.merl.com/publications/TR2023-095}
    • }
  •  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}
    • }
  •  Hu, H., Menner, M., Wang, Y., Fang, H., Sun, D., Takegami, T., "Simulator-based Mission Optimization for Conceptual Aircraft Design with Turboelectric Propulsion", AIAA/IEEE Electric Aircraft Technologies Symposium (EATS), DOI: 10.2514/​6.2023-3872, June 2023, pp. 3872.
    BibTeX TR2023-069 PDF
    • @inproceedings{Hu2023jun,
    • author = {Hu, Hanyao and Menner, Marcel and Wang, Yebin and Fang, Huazhen and Sun, Dengfeng and Takegami, Tomoki},
    • title = {{Simulator-based Mission Optimization for Conceptual Aircraft Design with Turboelectric Propulsion}},
    • booktitle = {AIAA/IEEE Electric Aircraft Technologies Symposium (EATS)},
    • year = 2023,
    • pages = 3872,
    • month = jun,
    • doi = {10.2514/6.2023-3872},
    • url = {https://www.merl.com/publications/TR2023-069}
    • }
  •  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}
    • }
  •  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}
    • }
  •  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}
    • }
  •  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}
    • }
  •  Menner, M., Di Cairano, S., "Kernel Regression for Energy-Optimal Control of Fully Electric Vehicles", IEEE Vehicle Power and Propulsion Conference, DOI: 10.1109/​VPPC53923.2021.9699361, October 2021, pp. 1-6.
    BibTeX TR2021-132 PDF
    • @inproceedings{Menner2021oct,
    • author = {Menner, Marcel and {Di Cairano}, Stefano},
    • title = {{Kernel Regression for Energy-Optimal Control of Fully Electric Vehicles}},
    • booktitle = {IEEE Vehicle Power and Propulsion Conference},
    • year = 2021,
    • pages = {1--6},
    • month = oct,
    • doi = {10.1109/VPPC53923.2021.9699361},
    • url = {https://www.merl.com/publications/TR2021-132}
    • }
  •  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}
    • }
  •  Menner, M., Berntorp, K., Di Cairano, S., "Inverse Learning for Data-driven Calibration of Model-based Statistical Path Planning", Transactions on Intelligent Vehicles, DOI: 10.1109/​TIV.2020.3000323, July 2020.
    BibTeX TR2020-106 PDF
    • @article{Menner2020jul,
    • author = {Menner, Marcel and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{Inverse Learning for Data-driven Calibration of Model-based Statistical Path Planning}},
    • journal = {Transactions on Intelligent Vehicles},
    • year = 2020,
    • month = jul,
    • doi = {10.1109/TIV.2020.3000323},
    • url = {https://www.merl.com/publications/TR2020-106}
    • }
  •  Menner, M., Berntorp, K., Di Cairano, S., "Inverse Learning for Human-Adaptive Motion Planning", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC40024.2019.9030020, December 2019.
    BibTeX TR2019-146 PDF
    • @inproceedings{Menner2019dec,
    • author = {Menner, Marcel and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{Inverse Learning for Human-Adaptive Motion Planning}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2019,
    • month = dec,
    • doi = {10.1109/CDC40024.2019.9030020},
    • url = {https://www.merl.com/publications/TR2019-146}
    • }