Publications

91 / 3,602 publications found.


  •  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 = {IEEE Xplore},
    • 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, Perry 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}
    • }
  •  Berntorp, K., Quirynen, R., Vaskov, S., "Joint Tire-Stiffness and Vehicle-Inertial Parameter Estimation for Improved Predictive Control", American Control Conference (ACC), DOI: 10.23919/​ACC50511.2021.9482635, May 2021, pp. 186-191.
    BibTeX TR2021-060 PDF
    • @inproceedings{Berntorp2021may2,
    • author = {Berntorp, Karl and Quirynen, Rien and Vaskov, Sean},
    • title = {Joint Tire-Stiffness and Vehicle-Inertial Parameter Estimation for Improved Predictive Control},
    • booktitle = {American Control Conference (ACC)},
    • year = 2021,
    • pages = {186--191},
    • month = may,
    • doi = {10.23919/ACC50511.2021.9482635},
    • url = {https://www.merl.com/publications/TR2021-060}
    • }
  •  Berntorp, K., Chakrabarty, A., Di Cairano, S., "Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter", American Control Conference (ACC), DOI: 10.23919/​ACC50511.2021.9483251, May 2021, pp. 160-165.
    BibTeX TR2021-058 PDF
    • @inproceedings{Berntorp2021may,
    • author = {Berntorp, Karl and Chakrabarty, Ankush and Di Cairano, Stefano},
    • title = {Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter},
    • booktitle = {American Control Conference (ACC)},
    • year = 2021,
    • pages = {160--165},
    • month = may,
    • doi = {10.23919/ACC50511.2021.9483251},
    • url = {https://www.merl.com/publications/TR2021-058}
    • }
  •  Vaskov, S., Quirynen, R., Berntorp, K., "Cornering Stiffness Adaptive, Stochastic Nonlinear Model Predictive Control for Vehicles", American Control Conference (ACC), DOI: 10.23919/​ACC50511.2021.9482699, May 2021, pp. 154-159.
    BibTeX TR2021-056 PDF
    • @inproceedings{Vaskov2021may,
    • author = {Vaskov, Sean and Quirynen, Rien and Berntorp, Karl},
    • title = {Cornering Stiffness Adaptive, Stochastic Nonlinear Model Predictive Control for Vehicles},
    • booktitle = {American Control Conference (ACC)},
    • year = 2021,
    • pages = {154--159},
    • month = may,
    • doi = {10.23919/ACC50511.2021.9482699},
    • url = {https://www.merl.com/publications/TR2021-056}
    • }
  •  Berntorp, K., "Online Bayesian Inference and Learning of Gaussian-Process State-SpaceModels", Automatica, DOI: 10.1016/​j.automatica.2021.109613, Vol. 129, March 2021.
    BibTeX TR2021-026 PDF
    • @article{Berntorp2021mar,
    • author = {Berntorp, Karl},
    • title = {Online Bayesian Inference and Learning of Gaussian-Process State-SpaceModels},
    • journal = {Automatica},
    • year = 2021,
    • volume = 129,
    • month = mar,
    • doi = {10.1016/j.automatica.2021.109613},
    • issn = {0005-1098},
    • url = {https://www.merl.com/publications/TR2021-026}
    • }
  •  Xia, Y., Wang, P., Berntorp, K., Svensson, L., Granstrom, K., Mansour, H., Boufounos, P.T., Orlik, P.V., "Learning-based Extended Object Tracking Using Hierarchical Truncation Measurement Model with Automotive Radar", IEEE Journal of Selected Topics in Signal Processing, DOI: 10.1109/​JSTSP.2021.3058062, Vol. 15, No. 4, pp. 1013-1029, February 2021.
    BibTeX TR2021-006 PDF
    • @article{Xia2021feb,
    • author = {Xia, Yuxuan and Wang, Pu and Berntorp, Karl and Svensson, Lennart and Granstrom, Karl and Mansour, Hassan and Boufounos, Petros T. and Orlik, Philip V.},
    • title = {Learning-based Extended Object Tracking Using Hierarchical Truncation Measurement Model with Automotive Radar},
    • journal = {IEEE Journal of Selected Topics in Signal Processing},
    • year = 2021,
    • volume = 15,
    • number = 4,
    • pages = {1013--1029},
    • month = feb,
    • doi = {10.1109/JSTSP.2021.3058062},
    • issn = {1941-0484},
    • url = {https://www.merl.com/publications/TR2021-006}
    • }
  •  Greiff, M., Robertsson, A., Berntorp, K., "Exploiting linear substructure in linear regression Kalman filters", IEEE 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 Conference on Decision and Control (CDC)},
    • year = 2020,
    • month = dec,
    • doi = {10.1109/CDC42340.2020.9304191},
    • url = {https://www.merl.com/publications/TR2020-171}
    • }
  •  Ahn, H., Berntorp, K., Di Cairano, S., "Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC42340.2020.9304101, December 2020.
    BibTeX TR2020-168 PDF
    • @inproceedings{Ahn2020dec2,
    • author = {Ahn, Heejin and Berntorp, Karl and Di Cairano, Stefano},
    • title = {Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2020,
    • month = dec,
    • doi = {10.1109/CDC42340.2020.9304101},
    • url = {https://www.merl.com/publications/TR2020-168}
    • }
  •  Ahn, H., Berntorp, K., Inani, P., Ram, A.J., Di Cairano, S., "Reachability-based Decision Making for Autonomous Driving: Theory and Experiment", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2020.3022721, December 2020.
    BibTeX TR2020-165 PDF
    • @article{Ahn2020dec,
    • author = {Ahn, Heejin and Berntorp, Karl and Inani, Pranav and Ram, Arjun Jagdish and Di Cairano, Stefano},
    • title = {Reachability-based Decision Making for Autonomous Driving: Theory and Experiment},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2020,
    • month = dec,
    • doi = {10.1109/TCST.2020.3022721},
    • url = {https://www.merl.com/publications/TR2020-165}
    • }
  •  Xia, Y., Wang, P., Berntorp, K., Boufounos, P.T., Orlik, P.V., Svensson, L., Granstrom, K., "Extended Object Tracking with Automotive Radar Using Learned Structural Measurement Model", IEEE Radar Conference (RadarCon), DOI: 10.1109/​RadarConf2043947.2020.9266598, September 2020, pp. 1-6.
    BibTeX TR2020-131 PDF
    • @inproceedings{Xia2020sep,
    • author = {Xia, Yuxuan and Wang, Pu and Berntorp, Karl and Boufounos, Petros T. and Orlik, Philip V. and Svensson, Lennart and Granstrom, Karl},
    • title = {Extended Object Tracking with Automotive Radar Using Learned Structural Measurement Model},
    • booktitle = {IEEE Radar Conference (RadarCon)},
    • year = 2020,
    • pages = {1--6},
    • month = sep,
    • doi = {10.1109/RadarConf2043947.2020.9266598},
    • issn = {2375-5318},
    • isbn = {978-1-7281-8943-7},
    • url = {https://www.merl.com/publications/TR2020-131}
    • }
  •  Greiff, M., Robertsson, A., Berntorp, K., "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}
    • }
  •  Danielson, C., Berntorp, K., Weiss, A., Di Cairano, S., "Robust Motion-Planning for Uncertain Systems with Disturbances using the Invariant-Set Motion-Planner", IEEE Transactions on Automatic Control, DOI: 10.1109/​TAC.2020.3008126, Vol. 65, No. 10, pp. 4456-4463, July 2020.
    BibTeX TR2021-038 PDF
    • @article{Danielson2020jul,
    • author = {Danielson, Claus and Berntorp, Karl and Weiss, Avishai and Di Cairano, Stefano},
    • title = {Robust Motion-Planning for Uncertain Systems with Disturbances using the Invariant-Set Motion-Planner},
    • journal = {IEEE Transactions on Automatic Control},
    • year = 2020,
    • volume = 65,
    • number = 10,
    • pages = {4456--4463},
    • month = jul,
    • doi = {10.1109/TAC.2020.3008126},
    • url = {https://www.merl.com/publications/TR2021-038}
    • }
  •  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}
    • }
  •  Berntorp, K., "Online Bayesian Tire-Friction Learning by Gaussian-Process State-Space Models", World Congress of the International Federation of Automatic Control (IFAC), Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann, Eds., DOI: 10.1016/​j.ifacol.2020.12.910, July 2020, pp. 13939-13944.
    BibTeX TR2020-104 PDF
    • @inproceedings{Berntorp2020jul,
    • author = {Berntorp, Karl},
    • title = {Online Bayesian Tire-Friction Learning by Gaussian-Process State-Space Models},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2020,
    • editor = {Rolf Findeisen and Sandra Hirche and Klaus Janschek and Martin Mönnigmann},
    • pages = {13939--13944},
    • month = jul,
    • publisher = {Elsevier},
    • doi = {10.1016/j.ifacol.2020.12.910},
    • url = {https://www.merl.com/publications/TR2020-104}
    • }
  •  Chakrabarty, A., Berntorp, K., Di Cairano, S., "Learning-based Parameter-Adaptive Reference Governors", American Control Conference (ACC), DOI: 10.23919/​ACC45564.2020.9147615, July 2020, pp. 956-961.
    BibTeX TR2020-092 PDF
    • @inproceedings{Chakrabarty2020jul,
    • author = {Chakrabarty, Ankush and Berntorp, Karl and Di Cairano, Stefano},
    • title = {Learning-based Parameter-Adaptive Reference Governors},
    • booktitle = {American Control Conference (ACC)},
    • year = 2020,
    • pages = {956--961},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ACC45564.2020.9147615},
    • url = {https://www.merl.com/publications/TR2020-092}
    • }
  •  Greiff, M., Berntorp, K., "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}
    • }
  •  Quirynen, R., Berntorp, K., Kambam, K., Di Cairano, S., "Integrated Obstacle Detection and Avoidance in Motion Planning and Predictive Control of Autonomous Vehicles", American Control Conference (ACC), DOI: 10.23919/​ACC45564.2020.9147820, July 2020.
    BibTeX TR2020-096 PDF
    • @inproceedings{Quirynen2020jul,
    • author = {Quirynen, Rien and Berntorp, Karl and Kambam, Karthik and Di Cairano, Stefano},
    • title = {Integrated Obstacle Detection and Avoidance in Motion Planning and Predictive Control of Autonomous Vehicles},
    • booktitle = {American Control Conference (ACC)},
    • year = 2020,
    • month = jul,
    • doi = {10.23919/ACC45564.2020.9147820},
    • url = {https://www.merl.com/publications/TR2020-096}
    • }
  •  Danielson, C., Berntorp, K., Di Cairano, S., Weiss, A., "Motion-Planning for Unicycles using the Invariant-Set Motion-Planner", American Control Conference (ACC), DOI: 10.23919/​ACC45564.2020.9147919, June 2020, pp. 1235-1240.
    BibTeX TR2020-089 PDF
    • @inproceedings{Danielson2020jun2,
    • author = {Danielson, Claus and Berntorp, Karl and Di Cairano, Stefano and Weiss, Avishai},
    • title = {Motion-Planning for Unicycles using the Invariant-Set Motion-Planner},
    • booktitle = {American Control Conference (ACC)},
    • year = 2020,
    • pages = {1235--1240},
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ACC45564.2020.9147919},
    • issn = {2378-5861},
    • isbn = {978-1-5386-8266-1},
    • url = {https://www.merl.com/publications/TR2020-089}
    • }
  •  Xia, Y., Wang, P., Berntorp, K., Mansour, H., Boufounos, P.T., Orlik, P.V., "Extended Object Tracking Using Hierarchical Truncation Model With Partial-View Measurements", IEEE Sensor Array & Multichannel Signal Processing Workshop (SAM), DOI: 10.1109/​SAM48682.2020.9104388, June 2020.
    BibTeX TR2020-069 PDF
    • @inproceedings{Xia2020jun,
    • author = {Xia, Yuxuan and Wang, Pu and Berntorp, Karl and Mansour, Hassan and Boufounos, Petros T. and Orlik, Philip V.},
    • title = {Extended Object Tracking Using Hierarchical Truncation Model With Partial-View Measurements},
    • booktitle = {IEEE Sensor Array \& Multichannel Signal Processing Workshop (SAM)},
    • year = 2020,
    • month = jun,
    • doi = {10.1109/SAM48682.2020.9104388},
    • url = {https://www.merl.com/publications/TR2020-069}
    • }