Mobile manipulation with a kinematically redundant manipulator for a pick-and-place scenario. - Karl Berntorp; Karl-Erik Årzén; Anders Robertsson (CCA, 2012)

Storage efficient particle filters with multiple out-of-sequence measurements. - Karl Berntorp; Karl-Erik Årzén; Anders Robertsson (FUSION, 2012)

Extending the Occupancy Grid Concept for Low-Cost Sensor Based SLAM. - Jerker Nordh; Karl Berntorp (SyRoCo, 2012)

Models and methodology for optimal vehicle maneuvers applied to a hairpin turn. - Karl Berntorp; Bjorn Olofsson; Bo Bernhardsson; Kristoffer Lundahl; Lars Nielsen (ACC, 2013)

Rao-blackwellized out-of-sequence processing for mixed linear/nonlinear state-space models. - Karl Berntorp; Anders Robertsson; Karl-Erik Årzén (FUSION, 2013)

Path tracking with obstacle avoidance for pseudo-omnidirectional mobile robots using convex optimization. - Karl Berntorp; Bjorn Olofsson; Anders Robertsson (ACC, 2014)

Rao-Blackwellized Particle Filters With Out-of-Sequence Measurement Processing. - Karl Berntorp; Anders Robertsson; Karl-Erik Årzén (IEEE Trans. Signal Process., 2014)

Particle filter for combined wheel-slip and vehicle-motion estimation. - Karl Berntorp (ACC, 2015)

Hierarchical predictive control for ground-vehicle maneuvering. - Karl Berntorp; Fredrik Magnusson (ACC, 2015)

Feedback particle filter: Application and evaluation. - Karl Berntorp (FUSION, 2015)

Particle filtering for online motion planning with task specifications. - Karl Berntorp; Stefano Di Cairano (ACC, 2016)

Data-driven gain computation in the feedback particle filter. - Karl Berntorp; Piyush Grover (ACC, 2016)

Tire-stiffness estimation by marginalized adaptive particle filter. - Karl Berntorp; Stefano Di Cairano (CDC, 2016)

Process-noise adaptive particle filtering with dependent process and measurement noise. - Karl Berntorp; Stefano Di Cairano (CDC, 2016)

Vehicle tracking control on piecewise-clothoidal trajectories by MPC with guaranteed error bounds. - Stefano Di Cairano; Uros V. Kalabic; Karl Berntorp (CDC, 2016)

Path planning using positive invariant sets. - Claus Danielson; Avishai Weiss; Karl Berntorp; Stefano Di Cairano (CDC, 2016)

Joint Wheel-Slip and Vehicle-Motion Estimation Based on Inertial, GPS, and Wheel-Speed Sensors. - Karl Berntorp (IEEE Trans. Control. Syst. Technol., 2016)

Path planning and integrated collision avoidance for autonomous vehicles. - Karl Berntorp (ACC, 2017)

Similarity-based vehicle-motion prediction. - Kazuhide Okamoto; Karl Berntorp; Stefano Di Cairano (ACC, 2017)

Constraint-enforcing controller for both autonomous and assisted steering (Invited paper). - Uros Kalabic; Karl Berntorp; Stefano Di Cairano (CCTA, 2017)

Motion planning with invariant set trees. - Avishai Weiss; Claus Danielson; Karl Berntorp; Ilya V. Kolmanovsky; Stefano Di Cairano (CCTA, 2017)

Sampling-based algorithms for optimal motion planning using closed-loop prediction. - Oktay Arslan; Karl Berntorp; Panagiotis Tsiotras (ICRA, 2017)

Automated driving: Safe motion planning using positively invariant sets. - Karl Berntorp; Avishai Weiss; Claus Danielson; Ilya V. Kolmanovsky; Stefano Di Cairano (ITSC, 2017)

Reachability-based Decision Making for City Driving. - Heejin Ahn; Karl Berntorp; Stefano Di Cairano (ACC, 2018)

Approximate Noise-Adaptive Filtering Using Student-t Distributions. - Karl Berntorp; Stefano Di Cairano (ACC, 2018)

Offset and Noise Estimation of Automotive-Grade Sensors Using Adaptive Particle Filtering. - Karl Berntorp; Stefano Di Cairano (ACC, 2018)

Evaluation of the Discrete Time Feedback Particle Filter for IMU-Driven Systems Configured on SE(2). - Marcus Greiff; Karl Berntorp (ACC, 2018)

Embedded Optimization Algorithms for Steering in Autonomous Vehicles based on Nonlinear Model Predictive Control. - Rien Quirynen; Karl Berntorp; Stefano Di Cairano (ACC, 2018)

Control Architecture Design for Autonomous Vehicles. - Karl Berntorp; Tru Hoang; Rien Quirynen; Stefano Di Cairano (CCTA, 2018)

Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control. - Karl Berntorp; Claus Danielson; Avishai Weiss; Stefano Di Cairano (CDC, 2018)

Comparison of Gain Function Approximation Methods in the Feedback Particle Filter. - Karl Berntorp (FUSION, 2018)

GNSS Ambiguity Resolution by Adaptive Mixture Kalman Filter. - Karl Berntorp; Avishai Weiss; Stefano Di Cairano (FUSION, 2018)

Feedback Particle Filter With Data-Driven Gain-Function Approximation. - Karl Berntorp; Piyush Grover (IEEE Trans. Aerosp. Electron. Syst., 2018)

Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation. - Karl Berntorp; Pranav Inani; Rien Quirynen; Stefano Di Cairano (ACC, 2019)

Steering of Autonomous Vehicles Based on Friction-Adaptive Nonlinear Model-Predictive Control. - Karl Berntorp; Rien Quirynen; Stefano Di Cairano (ACC, 2019)

Bayesian Learning of Tire Friction with Automotive-Grade Sensors by Gaussian-Process State-Space Models. - Karl Berntorp; Kitano Hiroaki (CDC, 2019)

Inverse Learning for Human-Adaptive Motion Planning. - Marcel Menner; Karl Berntorp; Melanie N. Zeilinger; Stefano Di Cairano (CDC, 2019)

Bayesian Tire-Friction Learning by Gaussian-Process State-Space Models. - Karl Berntorp (ECC, 2019)

Recursive Bayesian Inference and Learning of Gaussian-Process State-Space Models. - Karl Berntorp (ECC, 2019)

Particle Filtering for Automotive: A survey. - Karl Berntorp; Stefano Di Cairano (FUSION, 2019)

Performance Bounds in Positioning with the VIVE Lighthouse System. - Marcus Greiff; Anders Robertsson; Karl Berntorp (FUSION, 2019)

Tire-Stiffness and Vehicle-State Estimation Based on Noise-Adaptive Particle Filtering. - Karl Berntorp; Stefano Di Cairano (IEEE Trans. Control. Syst. Technol., 2019)

Motion Planning of Autonomous Road Vehicles by Particle Filtering. - Karl Berntorp; Tru Hoang; Stefano Di Cairano (IEEE Trans. Intell. Veh., 2019)

Learning-based Parameter-Adaptive Reference Governors. - Ankush Chakrabarty; Karl Berntorp; Stefano Di Cairano (ACC, 2020)

Motion-Planning for Unicycles using the Invariant-Set Motion-Planner. - Claus Danielson; Karl Berntorp; Stefano Di Cairano; Avishai Weiss (ACC, 2020)

Optimal Measurement Projections with Adaptive Mixture Kalman Filtering for GNSS Positioning. - Marcus Greiff; Karl Berntorp (ACC, 2020)

Integrated Obstacle Detection and Avoidance in Motion Planning and Predictive Control of Autonomous Vehicles. - Rien Quirynen; Karl Berntorp; Karthik Kambam; Stefano Di Cairano (ACC, 2020)

MSE-optimal measurement dimension reduction in Gaussian filtering. - Marcus Greiff; Anders Robertsson; Karl Berntorp (CCTA, 2020)

Cooperating Modular Goal Selection and Motion Planning for Autonomous Driving. - Heejin Ahn; Karl Berntorp; Stefano Di Cairano (CDC, 2020)

Exploiting linear substructure in linear regression Kalman filters. - Marcus Greiff; Anders Robertsson; Karl Berntorp (CDC, 2020)

Extended Object Tracking Using Hierarchical Truncation Measurement Model with Automotive Radar. - Yuxuan Xia; Pu Wang 004; Karl Berntorp; Toshiaki Koike-Akino; Hassan Mansour; Milutin Pajovic; Petros Boufounos; Philip V. Orlik (ICASSP, 2020)

Extended Object Tracking Using Hierarchical Truncation Model with Partial-View Measurements. - Yuxuan Xia; Pu Wang 004; Karl Berntorp; Hassan Mansour; Petros Boufounos; Philip V. Orlik (SAM, 2020)

Exploiting Linear Substructure In LRKFs (Extended). - Marcus Greiff; Karl Berntorp; Anders Robertsson (CoRR, 2020)

Robust Motion Planning for Uncertain Systems With Disturbances Using the Invariant-Set Motion Planner. - Claus Danielson; Karl Berntorp; Avishai Weiss; Stefano Di Cairano (IEEE Trans. Autom. Control., 2020)

Integer Ambiguity Resolution by Mixture Kalman Filter for Improved GNSS Precision. - Karl Berntorp; Avishai Weiss; Stefano Di Cairano (IEEE Trans. Aerosp. Electron. Syst., 2020)

Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control. - Karl Berntorp; Richard Bai; Karl F. Erliksson; Claus Danielson; Avishai Weiss; Stefano Di Cairano (IEEE Trans. Intell. Veh., 2020)

Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter. - Karl Berntorp; Ankush Chakrabarty; Stefano Di Cairano (ACC, 2021)

Joint Tire-Stiffness and Vehicle-Inertial Parameter Estimation for Improved Predictive Control. - Karl Berntorp; Rien Quirynen; Sean Vaskov (ACC, 2021)

Cornering Stiffness Adaptive, Stochastic Nonlinear Model Predictive Control for Vehicles. - Sean Vaskov; Karl Berntorp; Rien Quirynen (ACC, 2021)

Mixed-Integer Linear Regression Kalman Filters for GNSS Positioning. - Marcus Greiff; Karl Berntorp; Stefano Di Cairano; Kyeong Jin Kim (CCTA, 2021)

A Kalman Filter for Online Calibration of Optimal Controllers. - Marcel Menner; Karl Berntorp; Stefano Di Cairano (CCTA, 2021)

Vehicle Rollover Avoidance by Parameter-Adaptive Reference Governor. - Karl Berntorp; Ankush Chakrabarty; Stefano Di Cairano (CDC, 2021)

Extended Object Tracking with Spatial Model Adaptation Using Automotive Radar. - Gang Yao; Pu Wang 004; Karl Berntorp; Hassan Mansour; Petros Boufounos; Philip V. Orlik (FUSION, 2021)

Extended Object Tracking With Automotive Radar Using B-Spline Chained Ellipses Model. - Gang Yao; Pu Wang 004; Karl Berntorp; Hassan Mansour; Petros Boufounos; Philip V. Orlik (ICASSP, 2021)

Online Bayesian inference and learning of Gaussian-process state-space models. - Karl Berntorp (Autom., 2021)

Learning-Based Extended Object Tracking Using Hierarchical Truncation Measurement Model With Automotive Radar. - Yuxuan Xia; Pu Wang 004; Karl Berntorp; Lennart Svensson; Karl Granström; Hassan Mansour; Petros Boufounos; Philip V. Orlik (IEEE J. Sel. Top. Signal Process., 2021)

Reachability-Based Decision-Making for Autonomous Driving: Theory and Experiments. - Heejin Ahn; Karl Berntorp; Pranav Inani; Arjun Jagdish Ram; Stefano Di Cairano (IEEE Trans. Control. Syst. Technol., 2021)

Inverse Learning for Data-Driven Calibration of Model-Based Statistical Path Planning. - Marcel Menner; Karl Berntorp; Melanie N. Zeilinger; Stefano Di Cairano (IEEE Trans. Intell. Veh., 2021)

Online Constrained Bayesian Inference and Learning of Gaussian-Process State-Space Models. - Karl Berntorp; Marcel Menner (ACC, 2022)

Friction-Adaptive Stochastic Predictive Control for Trajectory Tracking of Autonomous Vehicles. - Sean Vaskov; Rien Quirynen; Marcel Menner; Karl Berntorp (ACC, 2022)

Learning Optimization-based Control Policies Directly from Digital Twin Simulations. - Marcel Menner; Ankush Chakrabarty; Karl Berntorp; Stefano Di Cairano (CCTA, 2022)

Distributed Kalman Filtering: When to Share Measurements. - Marcus Greiff; Karl Berntorp (CDC, 2022)

Exploiting Temporal Relations on Radar Perception for Autonomous Driving. - Peizhao Li; Pu Wang 004; Karl Berntorp; Hongfu Liu 001 (CVPR, 2022)

Location and Driver-Specific Vehicle Adaptation Using Crowdsourced Data. - Marcel Menner; Ziyi Ma; Karl Berntorp; Stefano Di Cairano (ECC, 2022)

Bayesian Sensor Fusion of GNSS and Camera With Outlier Adaptation for Vehicle Positioning. - Karl Berntorp; Marcus Greiff; Stefano Di Cairano (FUSION, 2022)

Dynamic Clustering for GNSS Positioning with Multiple Receivers. - Marcus Greiff; Stefano Di Cairano; Karl Berntorp (FUSION, 2022)

Mobility, Communication and Computation Aware Federated Learning for Internet of Vehicles. - Md. Ferdous Pervej; Jianlin Guo; Kyeong Jin Kim; Kieran Parsons; Philip V. Orlik; Stefano Di Cairano; Marcel Menner; Karl Berntorp; Yukimasa Nagai; Huaiyu Dai (IV, 2022)

Integral Action NMPC for Tight Maneuvers of Articulated Vehicles. - Sixiong You; Marcus Greiff; Rien Quirynen; Shuangxuan Ran; Yebin Wang; Karl Berntorp; Ran Dai; Stefano Di Cairano (ACC, 2023)

Motion Planning of Articulated Vehicles with Active Trailer Steering by Particle Filtering. - Hassan Iqbal; Stefano Di Cairano; Karl Berntorp (CCTA, 2023)

Gaussian Processes with State-Dependent Noise for Stochastic Control. - Marcel Menner; Karl Berntorp (CCTA, 2023)

Personalized Routing using Crowdsourced Connected Vehicle Data. - Anuj Tiwari; Karl Berntorp; Stefano Di Cairano; Marcel Menner (CCTA, 2023)

Constrained Gaussian-Process State-Space Models for Online Magnetic-Field Estimation. - Karl Berntorp; Marcel Menner (FUSION, 2023)

Bayesian Sensor Fusion for Joint Vehicle Localization and Road Mapping Using Onboard Sensors. - Karl Berntorp; Marcus Greiff; Stefano Di Cairano; Pedro Miraldo (FUSION, 2023)

Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles. - Sean Vaskov; Rien Quirynen; Marcel Menner; Karl Berntorp (CoRR, 2023)

Automated Controller Calibration by Kalman Filtering. - Marcel Menner; Karl Berntorp; Stefano Di Cairano (IEEE Trans. Control. Syst. Technol., 2023)

Distributed Road-Map Monitoring Using Onboard Sensors. - Yanyu Zhang; Marcus Greiff; Wei Ren; Karl Berntorp (ACC, 2024)

Physics-Constrained Meta-Learning for Online Adaptation and Estimation in Positioning Applications. - Ankush Chakrabarty; Vedang M. Deshpande; Gordon Wichern; Karl Berntorp (CDC, 2024)

Asynchronous Variational-Bayes Kalman Filtering. - Marcus Greiff; Karl Berntorp (CDC, 2024)

Bayesian Measurement Masks for GNSS Positioning. - Marcus Greiff; Stefano Di Cairano; Karl Berntorp (CDC, 2024)

Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety Shielding. - Ji Yin; Panagiotis Tsiotras; Karl Berntorp (CDC, 2024)

Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors. - Karl Berntorp; Marcus Greiff (ECC, 2024)

A Robust Invariant Set Planner For Quadrotors. - Marcus Greiff; Avishai Weiss; Karl Berntorp; Stefano Di Cairano (ECC, 2024)

Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering. - Marcel Menner; Karl Berntorp (ECC, 2024)

Physics-Informed Road Monitoring and Suspension Control Using Crowdsourced Vehicle Data. - Yanbing Wang; Karl Berntorp; Marcel Menner (ECC, 2024)

A System-Level Cooperative Multiagent GNSS Positioning Solution. - Marcus Greiff; Stefano Di Cairano; Kyeong Jin Kim; Karl Berntorp (IEEE Trans. Control. Syst. Technol., 2024)

Safe Interactive Motion Planning by Differentiable Optimal Control and Online Preference Learning. - Andres S. Chavez Armijos; Karl Berntorp; Stefano Di Cairano (ACC, 2025)

GNSS-RTK Factor Graph Optimization with Adaptive Ambiguity Noise. - Yingjie Hu; Stefano Di Cairano; Karl Berntorp (ACC, 2025)

Meta-Learning for Physically-Constrained Neural System Identification. - Ankush Chakrabarty; Gordon Wichern; Vedang M. Deshpande; Abraham P. Vinod; Karl Berntorp; Christopher R. Laughman (CoRR, 2025)

Invariant Set Planning for Quadrotors: Design, Analysis, Experiments. - Marcus Greiff; Himani Sinhmar; Avishai Weiss; Karl Berntorp; Stefano Di Cairano (IEEE Trans. Control. Syst. Technol., 2025)

Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion. - Ziyi Zhou; Stefano Di Cairano; Yebin Wang; Karl Berntorp (CoRR, 2025)