Publications

97 / 3,729 publications found.


  •  Berntorp, K., Di Cairano, S., "Offset and Noise Estimation of Automotive-Grade Sensors Using Adaptive Particle Filtering", American Control Conference (ACC), DOI: 10.23919/​ACC.2018.8430835, June 2018, pp. 4745-4750.
    BibTeX TR2018-092 PDF
    • @inproceedings{Berntorp2018jun,
    • author = {Berntorp, Karl and Di Cairano, Stefano},
    • title = {Offset and Noise Estimation of Automotive-Grade Sensors Using Adaptive Particle Filtering},
    • booktitle = {American Control Conference (ACC)},
    • year = 2018,
    • pages = {4745--4750},
    • month = jun,
    • doi = {10.23919/ACC.2018.8430835},
    • url = {https://www.merl.com/publications/TR2018-092}
    • }
  •  Berntorp, K., Di Cairano, S., "Approximate Noise-Adaptive Filtering Using Student-t Distributions", American Control Conference (ACC), DOI: 10.23919/​ACC.2018.8430902, June 2018, pp. 2745-2750.
    BibTeX TR2018-088 PDF
    • @inproceedings{Berntorp2018jun2,
    • author = {Berntorp, Karl and Di Cairano, Stefano},
    • title = {Approximate Noise-Adaptive Filtering Using Student-t Distributions},
    • booktitle = {American Control Conference (ACC)},
    • year = 2018,
    • pages = {2745--2750},
    • month = jun,
    • doi = {10.23919/ACC.2018.8430902},
    • url = {https://www.merl.com/publications/TR2018-088}
    • }
  •  Greiff, M., Berntorp, K., "Evaluation of the Discrete Time Feedback Particle Filter for IMU-Driven Systems Configured on SE(2)", American Control Conference (ACC), DOI: 10.23919/​ACC.2018.8431134, June 2018, pp. 5683-5689.
    BibTeX TR2018-087 PDF
    • @inproceedings{Greiff2018jun,
    • author = {Greiff, Marcus and Berntorp, Karl},
    • title = {Evaluation of the Discrete Time Feedback Particle Filter for IMU-Driven Systems Configured on SE(2)},
    • booktitle = {American Control Conference (ACC)},
    • year = 2018,
    • pages = {5683--5689},
    • month = jun,
    • doi = {10.23919/ACC.2018.8431134},
    • url = {https://www.merl.com/publications/TR2018-087}
    • }
  •  Quirynen, R., Berntorp, K., Di Cairano, S., "Embedded Optimization Algorithms for Steering in Autonomous Vehicles based on Nonlinear Model Predictive Control", American Control Conference (ACC), DOI: 10.23919/​ACC.2018.8431260, June 2018, pp. 3251-3256.
    BibTeX TR2018-089 PDF
    • @inproceedings{Quirynen2018jun2,
    • author = {Quirynen, Rien and Berntorp, Karl and Di Cairano, Stefano},
    • title = {Embedded Optimization Algorithms for Steering in Autonomous Vehicles based on Nonlinear Model Predictive Control},
    • booktitle = {American Control Conference (ACC)},
    • year = 2018,
    • pages = {3251--3256},
    • month = jun,
    • doi = {10.23919/ACC.2018.8431260},
    • url = {https://www.merl.com/publications/TR2018-089}
    • }
  •  Berntorp, K., Grover, P., "Feedback Particle Filter with Data-Driven Gain-Function Approximation", IEEE transactions on aerospace and electronic systems, DOI: 10.1109/​TAES.2018.2807559, February 2018.
    BibTeX TR2018-034 PDF
    • @article{Berntorp2018feb,
    • author = {Berntorp, Karl and Grover, Piyush},
    • title = {Feedback Particle Filter with Data-Driven Gain-Function Approximation},
    • journal = {IEEE transactions on aerospace and electronic systems},
    • year = 2018,
    • month = feb,
    • doi = {10.1109/TAES.2018.2807559},
    • url = {https://www.merl.com/publications/TR2018-034}
    • }
  •  Berntorp, K., Di Cairano, S., "Tire-Stiffness and Vehicle-State Estimation Based on Noise-Adaptive Particle Filtering", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2018.2790397, February 2018.
    BibTeX TR2018-025 PDF
    • @article{Berntorp2018feb2,
    • author = {Berntorp, Karl and Di Cairano, Stefano},
    • title = {Tire-Stiffness and Vehicle-State Estimation Based on Noise-Adaptive Particle Filtering},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2018,
    • month = feb,
    • doi = {10.1109/TCST.2018.2790397},
    • url = {https://www.merl.com/publications/TR2018-025}
    • }
  •  Berntorp, K., Weiss, A., Danielson, C., Di Cairano, S., "Automated Driving: Safe Motion Planning Using Positively Invariant Sets", International IEEE Conference on Intelligent Transportation Systems (ITSC), DOI: 10.1109/​ITSC.2017.8317672, October 2017.
    BibTeX TR2017-130 PDF
    • @inproceedings{Berntorp2017oct,
    • author = {Berntorp, Karl and Weiss, Avishai and Danielson, Claus and Di Cairano, Stefano},
    • title = {Automated Driving: Safe Motion Planning Using Positively Invariant Sets},
    • booktitle = {International IEEE Conference on Intelligent Transportation Systems (ITSC)},
    • year = 2017,
    • month = oct,
    • doi = {10.1109/ITSC.2017.8317672},
    • url = {https://www.merl.com/publications/TR2017-130}
    • }
  •  Kalabić, U., Berntorp, K., Di Cairano, S., "Constraint-Enforcing Controller for Both Autonomous and Assisted Steering", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA.2017.8062779, August 2017.
    BibTeX TR2017-135 PDF
    • @inproceedings{Kalabic2017aug,
    • author = {Kalabić, Uroš and Berntorp, Karl and Di Cairano, Stefano},
    • title = {Constraint-Enforcing Controller for Both Autonomous and Assisted Steering},
    • booktitle = {Conference on Control Technology and Applications (CCTA)},
    • year = 2017,
    • month = aug,
    • doi = {10.1109/CCTA.2017.8062779},
    • url = {https://www.merl.com/publications/TR2017-135}
    • }
  •  Weiss, A., Danielson, C., Berntorp, K., Kolmanovsky, I.V., Di Cairano, S., "Motion Planning with Invariant Set Trees", IEEE Conference on Control Technology and Applications, DOI: 10.1109/​CCTA.2017.8062689, August 2017.
    BibTeX TR2017-128 PDF
    • @inproceedings{Weiss2017aug,
    • author = {Weiss, Avishai and Danielson, Claus and Berntorp, Karl and Kolmanovsky, Ilya V. and Di Cairano, Stefano},
    • title = {Motion Planning with Invariant Set Trees},
    • booktitle = {IEEE Conference on Control Technology and Applications},
    • year = 2017,
    • month = aug,
    • doi = {10.1109/CCTA.2017.8062689},
    • url = {https://www.merl.com/publications/TR2017-128}
    • }
  •  Berntorp, K., Di Cairano, S., "Particle Gibbs with Ancestor Sampling for Identification of Tire-Friction Parameters", World Congress of the International Federation of Automatic Control (IFAC), DOI: 10.1016/​j.ifacol.2017.08.2585, July 2017, vol. 50, pp. 14849-14854.
    BibTeX TR2017-093 PDF
    • @inproceedings{Berntorp2017jul,
    • author = {Berntorp, Karl and Di Cairano, Stefano},
    • title = {Particle Gibbs with Ancestor Sampling for Identification of Tire-Friction Parameters},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2017,
    • volume = 50,
    • number = 1,
    • pages = {14849--14854},
    • month = jul,
    • publisher = {Elsevier},
    • doi = {10.1016/j.ifacol.2017.08.2585},
    • url = {https://www.merl.com/publications/TR2017-093}
    • }
  •  Okamoto, K., Berntorp, K., Di Cairano, S., "Driver Intention-based Vehicle Threat Assessment using Random Forests and Particle Filtering", World Congress of the International Federation of Automatic Control (IFAC), DOI: 10.1016/​j.ifacol.2017.08.2231, July 2017, vol. 50, pp. 13860-13865.
    BibTeX TR2017-090 PDF
    • @inproceedings{Okamoto2017jul,
    • author = {Okamoto, Kazuhide and Berntorp, Karl and Di Cairano, Stefano},
    • title = {Driver Intention-based Vehicle Threat Assessment using Random Forests and Particle Filtering},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2017,
    • volume = 50,
    • number = 1,
    • pages = {13860--13865},
    • month = jul,
    • publisher = {Elsevier},
    • doi = {10.1016/j.ifacol.2017.08.2231},
    • url = {https://www.merl.com/publications/TR2017-090}
    • }
  •  Arslan, O., Berntorp, K., Tsiotras, P., "Sampling-based Algorithms for Optimal Motion Planning Using Closed-loop Prediction", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA.2017.7989581, May 2017.
    BibTeX TR2017-067 PDF
    • @inproceedings{Arslan2017may,
    • author = {Arslan, Oktay and Berntorp, Karl and Tsiotras, Panagiotis},
    • title = {Sampling-based Algorithms for Optimal Motion Planning Using Closed-loop Prediction},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2017,
    • month = may,
    • doi = {10.1109/ICRA.2017.7989581},
    • url = {https://www.merl.com/publications/TR2017-067}
    • }
  •  Berntorp, K., "Path Planning and Integrated Collision Avoidance for Autonomous Vehicles", American Control Conference (ACC), DOI: 10.23919/​ACC.2017.7963572, May 2017.
    BibTeX TR2017-072 PDF
    • @inproceedings{Berntorp2017may,
    • author = {Berntorp, Karl},
    • title = {Path Planning and Integrated Collision Avoidance for Autonomous Vehicles},
    • booktitle = {American Control Conference (ACC)},
    • year = 2017,
    • month = may,
    • doi = {10.23919/ACC.2017.7963572},
    • url = {https://www.merl.com/publications/TR2017-072}
    • }
  •  Okamoto, K., Berntorp, K., Di Cairano, S., "Similarity-Based Vehicle-Motion Prediction", American Control Conference (ACC), DOI: 10.23919/​ACC.2017.7962970, May 2017.
    BibTeX TR2017-058 PDF
    • @inproceedings{Okamoto2017may,
    • author = {Okamoto, Kazuhide and Berntorp, Karl and Di Cairano, Stefano},
    • title = {Similarity-Based Vehicle-Motion Prediction},
    • booktitle = {American Control Conference (ACC)},
    • year = 2017,
    • month = may,
    • doi = {10.23919/ACC.2017.7962970},
    • url = {https://www.merl.com/publications/TR2017-058}
    • }
  •  Berntorp, K., Di Cairano, S., "Process-Noise Adaptive Particle Filtering with Dependent Process and Measurement Noise", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC.2016.7799103, December 2016, pp. 5434-5439.
    BibTeX TR2016-148 PDF
    • @inproceedings{Berntorp2016dec,
    • author = {Berntorp, Karl and Di Cairano, Stefano},
    • title = {Process-Noise Adaptive Particle Filtering with Dependent Process and Measurement Noise},
    • booktitle = {IEEE Annual Conference on Decision and Control (CDC)},
    • year = 2016,
    • pages = {5434--5439},
    • month = dec,
    • doi = {10.1109/CDC.2016.7799103},
    • url = {https://www.merl.com/publications/TR2016-148}
    • }
  •  Berntorp, K., Di Cairano, S., "Tire-Stiffness Estimation by Marginalized Adaptive Particle Filter", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC.2016.7798628, December 2016, pp. 2443-2448.
    BibTeX TR2016-147 PDF
    • @inproceedings{Berntorp2016dec2,
    • author = {Berntorp, Karl and Di Cairano, Stefano},
    • title = {Tire-Stiffness Estimation by Marginalized Adaptive Particle Filter},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2016,
    • pages = {2443--2448},
    • month = dec,
    • doi = {10.1109/CDC.2016.7798628},
    • url = {https://www.merl.com/publications/TR2016-147}
    • }
  •  Danielson, C., Weiss, A., Berntorp, K., Di Cairano, S., "Path Planning using Positive Invariant Sets", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC.2016.7799188, December 2016, pp. 5986-5991.
    BibTeX TR2016-160 PDF
    • @inproceedings{Danielson2016dec,
    • author = {Danielson, Claus and Weiss, Avishai and Berntorp, Karl and Di Cairano, Stefano},
    • title = {Path Planning using Positive Invariant Sets},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2016,
    • pages = {5986--5991},
    • month = dec,
    • doi = {10.1109/CDC.2016.7799188},
    • url = {https://www.merl.com/publications/TR2016-160}
    • }
  •  Di Cairano, S., Kalabić, U., Berntorp, K., "Vehicle Tracking Control on Piecewise-Clothoidal Trajectories by MPC with Guaranteed Error Bounds", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC.2016.7798351, December 2016, pp. 709-714.
    BibTeX TR2016-159 PDF
    • @inproceedings{DiCairano2016dec,
    • author = {Di Cairano, Stefano and Kalabić, Uroš and Berntorp, Karl},
    • title = {Vehicle Tracking Control on Piecewise-Clothoidal Trajectories by MPC with Guaranteed Error Bounds},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2016,
    • pages = {709--714},
    • month = dec,
    • doi = {10.1109/CDC.2016.7798351},
    • url = {https://www.merl.com/publications/TR2016-159}
    • }
  •  Berntorp, K., Di Cairano, S., "Particle Filtering for Online Motion Planning with Task Specifications", American Control Conference (ACC), DOI: 10.1109/​ACC.2016.7525232, July 2016, pp. 2123-2128.
    BibTeX TR2016-052 PDF Videos
    • @inproceedings{Berntorp2016jul2,
    • author = {Berntorp, Karl and Di Cairano, Stefano},
    • title = {Particle Filtering for Online Motion Planning with Task Specifications},
    • booktitle = {American Control Conference (ACC)},
    • year = 2016,
    • pages = {2123--2128},
    • month = jul,
    • doi = {10.1109/ACC.2016.7525232},
    • url = {https://www.merl.com/publications/TR2016-052}
    • }
  •  Berntorp, K., Grover, P., "Data-Driven Gain Computation in the Feedback Particle Filter", American Control Conference (ACC), DOI: 10.1109/​ACC.2016.7525328, July 2016, pp. 2711-2716.
    BibTeX TR2016-050 PDF
    • @inproceedings{Berntorp2016jul1,
    • author = {Berntorp, Karl and Grover, Piyush},
    • title = {Data-Driven Gain Computation in the Feedback Particle Filter},
    • booktitle = {American Control Conference (ACC)},
    • year = 2016,
    • pages = {2711--2716},
    • month = jul,
    • doi = {10.1109/ACC.2016.7525328},
    • url = {https://www.merl.com/publications/TR2016-050}
    • }
  •  Berntorp, K., Di Cairano, S., "Joint Decision Making and Motion Planning for Road Vehicles Using Particle Filtering", IFAC Symposium on Advances in Automotive Control (AAC), DOI: 10.1016/​j.ifacol.2016.08.027, June 2016, vol. 49, pp. 175-181.
    BibTeX TR2016-038 PDF Videos
    • @inproceedings{Berntorp2016jun,
    • author = {Berntorp, Karl and Di Cairano, Stefano},
    • title = {Joint Decision Making and Motion Planning for Road Vehicles Using Particle Filtering},
    • booktitle = {IFAC Symposium on Advances in Automotive Control (AAC)},
    • year = 2016,
    • volume = 49,
    • number = 11,
    • pages = {175--181},
    • month = jun,
    • publisher = {Elsevier},
    • doi = {10.1016/j.ifacol.2016.08.027},
    • url = {https://www.merl.com/publications/TR2016-038}
    • }
  •  Berntorp, K., "Feedback Particle Filter: Application and Evaluation", International Conference on Information Fusion (FUSION), July 2015, pp. 1633-1640.
    BibTeX TR2015-074 PDF
    • @inproceedings{Berntorp2015jul,
    • author = {Berntorp, K.},
    • title = {Feedback Particle Filter: Application and Evaluation},
    • booktitle = {International Conference on Information Fusion (FUSION)},
    • year = 2015,
    • pages = {1633--1640},
    • month = jul,
    • url = {https://www.merl.com/publications/TR2015-074}
    • }