Publications
Karl Berntorp, Fredrik Magnusson: "Hierarchical Predictive Control for Ground-Vehicle Maneuvering". In 2015 American Control Conference, Chicago, IL, July 2015.
Karl Berntorp: "Particle Filter for Combined Wheel-Slip and Vehicle-Motion Estimation". In 2015 American Control Conference, Chicago, IL, July 2015.
Karl Berntorp: "Joint Wheel-Slip and Vehicle-Motion Estimation Based on Inertial, GPS, and Wheel-Speed Sensors". IEEE Transactions on Control Systems Technology, 2015.
Kristoffer Lundahl, Björn Olofsson, Karl Berntorp, Jan Åslund, Lars Nielsen: "Towards Lane-Keeping Electronic Stability Control for Road-Vehicles". In 19th IFAC World Congress, Cape Town, South Africa, August 2014.
Karl Berntorp, Jerker Nordh: "Rao-Blackwellized Particle Smoothing for Occupancy-Grid Based SLAM Using Low-Cost Sensors". In 19th IFAC World Congress, Cape Town, South Africa, August 2014.
Karl Berntorp, Björn Olofsson, Anders Robertsson: "Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Mobile Robots Using Convex Optimization". In 2014 American Control Conference, Portland, Oregon, June 2014.
Karl Berntorp: Particle Filtering and Optimal Control for Vehicles and Robots. PhD Thesis ISRN LUTFD2/TFRT--1101--SE, Department of Automatic Control, Lund University, Sweden, May 2014.
Fredrik Magnusson, Karl Berntorp, Björn Olofsson, Johan Åkesson: "Symbolic Transformations of Dynamic Optimization Problems". In 10th International Modelica Conference, Lund, Sweden, March 2014.
Karl Berntorp, Anders Robertsson, Karl-Erik Årzén: "Rao-Blackwellized Particle Filters with Out-of-Sequence Measurement Processing". IEEE Transactions on Signal Processing, 62:24, pp. 6454–6467,2014.
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.
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, September 2013.
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, August 2013.
Karl Berntorp, Anders Robertsson, Karl-Erik Årzén: "Rao-Blackwellized Out-of-Sequence Processing for Mixed Linear/Nonlinear State-Space Models". In 16th International Conference on Information Fusion, Istanbul, Turkey, July 2013.
Karl Berntorp, Björn Olofsson, Kristoffer Lundahl, Bo Bernhardsson, Lars Nielsen: "Models and Methodology for Optimal Vehicle Maneuvers Applied to a Hairpin Turn". In 2013 American Control Conference, Washington DC, USA, June 2013.
Jerker Nordh, Karl Berntorp: "pyParticleEst – A Python Framework for Particle Based Estimation". Technical Report ISRN LUTFD2/TFRT--7628--SE, Department of Automatic Control, Lund University, Sweden, March 2013.
Karl Berntorp: "Derivation of a Six Degrees-of-Freedom Ground-Vehicle Model for Automotive Applications". Technical Report ISRN LUTFD2/TFRT--7627--SE, Department of Automatic Control, Lund University, Sweden, February 2013.
Karl Berntorp, Karl-Erik Årzén, Anders Robertsson: "Mobile Manipulation with a Kinematically Redundant Manipulator for a Pick-and-Place Scenario". In 2012 IEEE Multi-Conference on Systems and Control, Dubrovnik, Croatia , October 2012.
Jerker Nordh, Karl Berntorp: "Extending the Occupancy Grid Concept for Low-Cost Sensor Based SLAM". In 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, September 2012.
Karl Berntorp, Karl-Erik Årzén, Anders Robertsson: "Storage Efficient Particle Filters with Multiple Out-of-Sequence Measurements". In 15th International Conference on Information Fusion, Singapore, July 2012.
Karl Berntorp, Karl-Erik Årzén, Anders Robertsson: "Sensor Fusion for Motion Estimation of Mobile Robots with Compensation for Out-of-Sequence Measurements". In 2011 11th International Conference on Control, Automation and Systems, Gyeonggi-do, Korea, October 2011.
Karl Berntorp: "ESP for Suppression of Jackknifing in an Articulated Bus". Master's Thesis ISRN LUTFD2/TFRT--5831--SE, Department of Automatic Control, Lund University, Sweden, December 2008.