About

I received the M.Sc. degree in Engineering Physics in June 2010 and the Ph.D. degree in Automatic Control in September 2015, both from Lund University.

My main research interests are in robotics and optimal motion control. I am involved in a project that investigates optimal autonomous maneuvers for vehicles and robots, which is a subproject within the ELLIIT Excellence Center. In addition, research within the European Spallation Source (ESS) is performed, targeting systems for temperature control.

Google Scholar Profile: [Link]

Publications

Journal Articles

Björn Olofsson & Lars Nielsen: "Path-tracking velocity control for robot manipulators with actuator constraints". Mechatronics, 45, pp. 82–99, 2017. [DOI]
Björn Olofsson, Jacob Bergstedt, Henk G. Kortier, Bo Bernhardsson, Anders Robertsson, & Rolf Johansson: "Sensor Fusion for Robotic Workspace State Estimation". IEEE/ASME Transactions on Mechatronics, 21:5, pp. 2236–2248, 2016. [DOI]
Olof Sörnmo, Björn Olofsson, Anders Robertsson, & Rolf Johansson: "Learning Approach to Cycle-Time-Minimization of Wood Milling Using Adaptive Force Control". Journal of Manufacturing Science and Engineering, 138:1, 2016. [DOI]
Karl Berntorp, Björn Olofsson, Kristoffer Lundahl, & Lars Nielsen: "Models and methodology for optimal trajectory generation in safety-critical road–vehicle manoeuvres". Vehicle System Dynamics, 52:10, pp. 1304–1332, 2014. [DOI]
Ulrich Schneider, Björn Olofsson, Olof Sörnmo, Manuel Drust, Anders Robertsson, Martin Hägele, & Rolf Johansson: "Integrated approach to robotic machining with macro/micro-actuation". Robotics and Computer-Integrated Manufacturing, 30:6, pp. 636–647, 2014. [DOI]

Conference and Workshop Papers

Björn Olofsson, Bo Bernhardsson, Rihua Zeng, Pontus Andersson, & Rolf Johansson: "Temperature Stabilization of the Phase-Reference Line at the European Spallation Source". In IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, Denmark, 2018.
Pavel Anistratov, Björn Olofsson, & Lars Nielsen: "Lane-Deviation Penalty for Autonomous Avoidance Maneuvers". In International Symposium on Advanced Vehicle Control (AVEC), Beijing, China, 2018.
Pavel Anistratov, Björn Olofsson, & Lars Nielsen: "Segmentation and Merging of Autonomous At-the-Limit Maneuvers for Ground Vehicles". In International Symposium on Advanced Vehicle Control (AVEC), Beijing, China, 2018.
Victor Fors, Björn Olofsson, & Lars Nielsen: "Slip-Angle Feedback Control for Autonomous Safety-Critical Maneuvers At-the-Limit of Friction". In International Symposium on Advanced Vehicle Control (AVEC), Beijing, China, 2018.
Victor Fors, Björn Olofsson, & Lars Nielsen: "Formulation and Interpretation of Optimal Braking Patterns in Autonomous Lane-Keeping Maneuvers". In 2nd IAVSD Workshop on Dynamics of Road Vehicles, Berlin, Germany, 2017.
Björn Olofsson, Bo Bernhardsson, Rihua Zeng, & Pontus Andersson: "Temperature Control of the ESS Phase Reference Line". Conference Poster. In 8th International Particle Accelerator Conference, IPAC 2017, Copenhagen, Denmark, 2017.
Olof Troeng, Björn Olofsson, Bo Bernhardsson, Anders J Johansson, & Rolf Johansson: "Control Problems at the European Spallation Source". In Swedish Control Meeting 2016, Gothenburg, Sweden, 2016.
Mahdi Ghazaei, Björn Olofsson, Anders Robertsson, & Rolf Johansson: "Real-Time Trajectory Generation using Model Predictive Control". In IEEE International Conference on Automation Science and Engineering (IEEE CASE 2015), Gothenburg, Sweden, 2015. [DOI]
Björn Olofsson, Olof Sörnmo, Anders Robertsson, & Rolf Johansson: "Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods". In 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besançon, France, 2014. [DOI]
Pablo Cano Marchal, Olof Sörnmo, Björn Olofsson, Anders Robertsson, Juan Gómez Ortega, & Rolf Johansson: "Iterative Learning Control for Machining with Industrial Robots". In 19th IFAC World Congress, 2014, Cape Town, South Africa, 2014. [DOI]
Kristoffer Lundahl, Björn Olofsson, Karl Berntorp, Jan Åslund, & Lars Nielsen: "Towards Lane-Keeping Electronic Stability Control for Road-Vehicles". In 19th IFAC World Congress, 2014, Cape Town, South Africa, 2014. [DOI]
Karl Berntorp, Björn Olofsson, & Anders Robertsson: "Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Mobile Robots Using Convex Optimization". In American Control Conference, 2014, Portland, Oregon, USA, 2014. [DOI]
Fredrik Magnusson, Karl Berntorp, Björn Olofsson, & Johan Åkesson: "Symbolic Transformations of Dynamic Optimization Problems". In 10th International Modelica Conference, Lund, Sweden, 2014.
Olof Sörnmo, Björn Olofsson, Anders Robertsson, & Rolf Johansson: "Adaptive Internal Model Control for Mid-Ranging of Closed-Loop Systems with Internal Saturation". In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, Tokyo, Japan, 2013. [DOI]
Björn Olofsson, Kristoffer Lundahl, Karl Berntorp, & Lars Nielsen: "An Investigation of Optimal Vehicle Maneuvers for Different Road Conditions". In 7th IFAC Symposium on Advances in Automotive Control, Tokyo, Japan, 2013. [DOI]
Christian Lehmann, Björn Olofsson, Klas Nilsson, Marcel Halbauer, Mathias Haage, Anders Robertsson, Olof Sörnmo, & Ulrich Berger: "Robot Joint Modeling and Parameter Identification Using the Clamping Method". In IFAC Conference on Manufacturing Modelling, Management and Control (MIM2013), St. Petersburg, Russia, 2013. [DOI]
Kristoffer Lundahl, Karl Berntorp, Björn Olofsson, Jan Åslund, & Lars Nielsen: "Studying the Influence of Roll and Pitch Dynamics in Optimal Road-Vehicle Maneuvers". In 23rd International Symposium on Dynamics of Vehicles on Roads and Tracks, Qingdao, China, 2013.
Karl Berntorp, Björn Olofsson, Kristoffer Lundahl, Bo Bernhardsson, & Lars Nielsen: "Models and Methodology for Optimal Vehicle Maneuvers Applied to a Hairpin Turn". In American Control Conference, 2013, Washington, D.C., USA, 2013. [DOI]
Olof Sörnmo, Björn Olofsson, Anders Robertsson, & Rolf Johansson: "Increasing Time-Efficiency and Accuracy of Robotic Machining Processes Using Model-Based Adaptive Force Control". In 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, 2012. [DOI]
Björn Olofsson, Olof Sörnmo, Ulrich Schneider, Marc Barho, Anders Robertsson, & Rolf Johansson: "Increasing the Accuracy for a Piezo-Actuated Micro Manipulator for Industrial Robots using Model-Based Nonlinear Control". In 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, 2012. [DOI]
Olof Sörnmo, Björn Olofsson, Ulrich Schneider, Anders Robertsson, & Rolf Johansson: "Increasing the Milling Accuracy for Industrial Robots Using a Piezo-Actuated High-Dynamic Micro Manipulator". In 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Kaohsiung, Taiwan, 2012. [DOI]
Björn Olofsson, Olof Sörnmo, Ulrich Schneider, Anders Robertsson, Arnold Puzik, & Rolf Johansson: "Modeling and Control of a Piezo-Actuated High-Dynamic Compensation Mechanism for Industrial Robots". In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011), San Francisco, California, USA, 2011. [DOI]
Björn Olofsson, Henrik Nilsson, Anders Robertsson, & Johan Åkesson: "Optimal Tracking and Identification of Paths for Industrial Robots". In 18th IFAC World Congress, 2011, Milan, Italy, 2011. [DOI]

Theses and Reports

Björn Olofsson: Topics in Machining with Industrial Robot Manipulators and Optimal Motion Control. PhD Thesis TFRT-1108, Department of Automatic Control, Lund University, Sweden, August 2015.
Björn Olofsson: Topics in Machining with Industrial Robots and Optimal Control of Vehicles. Licentiate Thesis TFRT-3259, Department of Automatic Control, Lund University, Sweden, April 2013.
Björn Olofsson, Karl Berntorp, & Anders Robertsson: A Convex Approach to Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Vehicles. Technical Report TFRT-7643, Department of Automatic Control, Lund University, Sweden, November 2015.
Henrik Nilsson & Björn Olofsson: Optimal Tracking and Identification of Paths for Industrial Robots. Master's Thesis ISRN LUTFD2/TFRT--5858--SE, Department of Automatic Control, Lund University, Sweden, June 2010.

Teaching in Undergraduate Courses

Automatic Control, Basic Course for CMN (2010, 2011, 2013)
Nonlinear Control and Servo Systems (2011, 2012, 2013)
Control Theory (2012, 2013, 2014, 2015, 2016)
Project Course in Automatic Control (2013, 2014)
System Identification (2013, 2015)
Systems Engineering (2014)

Teaching in Graduate Courses

Study Circle on Robot Learning and Control (2014)
Motion Planning and Control, at Linköping University (2016)
Motion Planning and Control (2017)

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