Patents by Inventor Marcus Greiff

Marcus Greiff has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 12292517
    Abstract: Embodiments of the present disclosure disclose a method and a system for tracking the position of the one or more moving objects. The method includes collecting GNSS measurement data of satellite signals transmitted from multiple satellites. The method further includes extracting values of a plurality of features from the GNSS measurement data. The method includes mapping the extracted values of the plurality of features to a source domain. The method includes classifying the mapped transformed plurality of features using a neural network. The neural network is trained over simulated data sampled from a source domain. The method includes identifying multipath measurements of the GNSS measurement data based on classification of the corresponding mapped transformed plurality of features. The method includes tracking the position of the one or more moving objects by processing identification of GNSS measurement data affected by multipath.
    Type: Grant
    Filed: September 6, 2022
    Date of Patent: May 6, 2025
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Kyeong-Jin Kim, Remy Zawislak, Karl Berntorp, Marcus Greiff, Stefano Di Calrano, Kieran Parsons, Philip Orlik
  • Patent number: 12286151
    Abstract: A system for controlling motion of an articulated vehicle with one or multiple trailers is described. The system is configured to infer the state of a vehicle, determine a motion path with forward motions and backward motions for the vehicle based on the state, and formulate an optimal control problem for optimizing the motion path. The optimal control problem comprises an integral tracking error function indicating integral tracking error based on motion cusps relating to the motion path. The motion cusps indicate switching between forward motion and backward motion. The motion path is optimized over a prediction horizon based on solving the optimal control problem. A control command is generated for the vehicle based on the optimized motion path and a vehicle model, and the motion of the articulated vehicle is controlled based on the control command thereby changing its state.
    Type: Grant
    Filed: March 24, 2023
    Date of Patent: April 29, 2025
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Marcus Greiff, Rien Quirynen, Karl Berntorp, Stefano Di Cairano, Yebin Wang, Eyad Zeino, Astha Tiwari, Hassan Iqbal, Shuangxuan Ran, Sixiong You
  • Publication number: 20250004143
    Abstract: Provided is a system for tracking a state of a receiver. The system receives a set of measurements collected over a period of time, indicative of a motion of the receiver. The system further processes set of measurements relating to the receiver with a probabilistic smoother to estimate a state trajectory of the receiver for the period of time, the set of measurements is associated with a probabilistic estimation model. The probabilistic smoother iteratively implements a smoothing process followed by a feedback refining process for at least some parameters of the probabilistic estimation model until a termination condition is met. The smoothing process updates the state trajectory based on the at least some parameters. The feedback refining process updates the at least some parameters to improve a metric indicative of a measurement likelihood. The system further renders the estimated state trajectory and at least some estimated model parameters.
    Type: Application
    Filed: June 29, 2023
    Publication date: January 2, 2025
    Applicant: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Marcus Greiff, Karl Berntorp, Stefano Di Cairano
  • Publication number: 20240248475
    Abstract: The present disclosure discloses a system and method for controlling motion of a vehicle. The method comprises collecting a signal indicative of objectives of the motion and a value of the disturbances, and minimizing an objective function subject to constraints defined by the objectives of the motion to produce optimized values of parameters of a sequence of splines. The method further comprises controlling the motion of the vehicle based on a model of differentially flat dynamics of the vehicle according to an optimal path defined by the optimized values of the parameters of the sequence of splines.
    Type: Application
    Filed: January 24, 2023
    Publication date: July 25, 2024
    Inventors: Marcus Greiff, Stefano Di Cairano, Saleh Nabi, Abraham Vinod
  • Patent number: 11947022
    Abstract: A server jointly tracks states of multiple vehicles using measurements of satellite signals received at each vehicle and parameters of the probabilistic distribution of the state of each vehicle. The server fuse states and measurements into an augmented state of the multiple vehicles and an augmented measurement of the augmented state subject to augmented measurement noise defined by a non-diagonal covariance matrix with non-zero off-diagonal elements, each non-zero off-diagonal elements relating errors in the measurements of a pair of corresponding vehicles. The server executes a probabilistic filter updating the augmented state and fuses the state of at least some of the multiple vehicles with a corresponding portion of the updated augmented state.
    Type: Grant
    Filed: March 30, 2021
    Date of Patent: April 2, 2024
    Assignee: Mitsubishi Electric Research Laboratories, Inc
    Inventors: Karl Berntorp, Marcus Greiff, Stefano Di Cairano, Kyeong Jin Kim
  • Publication number: 20240077622
    Abstract: Embodiments of the present disclosure disclose a method and a system for tracking the position of the one or more moving objects. The method includes collecting GNSS measurement data of satellite signals transmitted from multiple satellites. The method further includes extracting values of a plurality of features from the GNSS measurement data. The method includes mapping the extracted values of the plurality of features to a source domain. The method includes classifying the mapped transformed plurality of features using a neural network. The neural network is trained over simulated data sampled from a source domain. The method includes identifying multipath measurements of the GNSS measurement data based on classification of the corresponding mapped transformed plurality of features. The method includes tracking the position of the one or more moving objects by processing identification of GNSS measurement data affected by multipath.
    Type: Application
    Filed: September 6, 2022
    Publication date: March 7, 2024
    Inventors: Kyeong-Jin Kim, Remy Zawislak, Karl Berntorp, Marcus Greiff, Stefano Di Cairano, Kieran Parsons, Philip Orlik
  • Patent number: 11885894
    Abstract: A system jointly estimates states of GNSS receivers moving in a region using measurements of a Global Navigation Satellite System (GNSS). The system clusters the GNSS receivers into different clusters subject to a constraint on an upper bound on each cluster and executes a set of probabilistic filters corresponding to the set of clusters to estimate the states of GNSS receivers in each cluster. Each probabilistic filter estimates the states of the GNSS receivers in a corresponding cluster by fusing the GNSS data collected from the GNSS receivers in the cluster to jointly reduce an estimation error of each of the GNSS receivers in the cluster. The DES updates the cluster assignments based on a measure of estimation error in the states of different GNSS receivers in different clusters.
    Type: Grant
    Filed: July 21, 2022
    Date of Patent: January 30, 2024
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Marcus Greiff, Karl Berntorp, Stefano Di Cairano
  • Publication number: 20240004085
    Abstract: The present disclosure discloses a system and a method for controlling a device using a compound probabilistic filter. The method comprises collecting a sequence of measurements indicative of the state of the device at different control steps. Further, the method comprises executing iteratively a compound probabilistic filter configured to track the state of the device at each of the different control steps using the sequence of measurements to produce a sequence of states of the device corresponding to the sequence of measurements. Furthermore, the method comprises controlling the device using the tracked state of the device.
    Type: Application
    Filed: October 13, 2022
    Publication date: January 4, 2024
    Inventors: Karl Berntorp, Marcus Greiff, Stefano Di Cairano
  • Publication number: 20240004088
    Abstract: A system jointly estimates states of GNSS receivers moving in a region using measurements of a Global Navigation Satellite System (GNSS). The system clusters the GNSS receivers into different clusters subject to a constraint on an upper bound on each cluster and executes a set of probabilistic filters corresponding to the set of clusters to estimate the states of GNSS receivers in each cluster. Each probabilistic filter estimates the states of the GNSS receivers in a corresponding cluster by fusing the GNSS data collected from the GNSS receivers in the cluster to jointly reduce an estimation error of each of the GNSS receivers in the cluster. The DES updates the cluster assignments based on a measure of estimation error in the states of different GNSS receivers in different clusters.
    Type: Application
    Filed: July 21, 2022
    Publication date: January 4, 2024
    Inventors: Marcus Greiff, Karl Berntorp, Stefano Di Cairano
  • Publication number: 20230300774
    Abstract: A hybrid distributed estimation system (DES) jointly tracks states of a plurality of moving devices configured to transmit measurements indicative of a state of a moving device and an estimation of the state of the moving device derived from the measurements. The hybrid DES selects between the measurements and the estimations, and based on this selection activates different types of DESs configures to jointly track the states of the moving devices using different types of information. Next, the hybrid DES tracks the states using the activated DES allowing track the state by different DES at different instances of time.
    Type: Application
    Filed: March 18, 2022
    Publication date: September 21, 2023
    Inventors: Karl Berntorp, Marcus Greiff
  • Patent number: 11644579
    Abstract: A probabilistic system for tracking a state of a vehicle using unsynchronized cooperation of information includes a probabilistic multi-head measurement model relating incoming measurements with the state of the vehicle. The first head of the model relates measurements of the satellite signals subject to measurement noise with a belief on the state of the vehicle, and a second head relates an estimation of the state of the vehicle subject to estimation noise with the belief on the state of the vehicle. A probabilistic filter of the system updates recursively the belief on the state of the vehicle based on the multi-head measurement model accepting one or a combination of the measurements of the satellite signals subject to the measurement noise and the estimation of the state of the vehicle subject to the estimation noise.
    Type: Grant
    Filed: March 30, 2021
    Date of Patent: May 9, 2023
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Karl Berntorp, Marcus Greiff, Stefano Di Cairano, Kyeong Jin Kim
  • Patent number: 11474263
    Abstract: A system for tracking a state of a GNSS receiver uses a subset of the measurements of satellite signals selected to minimize a loss of information with respect to the set of measurements available to the GNSS receiver. The system uses a probabilistic state estimator that tracks the state of the GNSS receiver using a probabilistic motion model subject to noise and a probabilistic measurement model relating the selected subset of the measurements of satellite signals to the current state of the receiver.
    Type: Grant
    Filed: February 13, 2020
    Date of Patent: October 18, 2022
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Karl Berntorp, Marcus Greiff
  • Publication number: 20220326394
    Abstract: A probabilistic system for tracking a state of a vehicle using unsynchronized cooperation of information includes a probabilistic multi-head measurement model relating incoming measurements with the state of the vehicle. The first head of the model relates measurements of the satellite signals subject to measurement noise with a belief on the state of the vehicle, and a second head relates an estimation of the state of the vehicle subject to estimation noise with the belief on the state of the vehicle. A probabilistic filter of the system updates recursively the belief on the state of the vehicle based on the multi-head measurement model accepting one or a combination of the measurements of the satellite signals subject to the measurement noise and the estimation of the state of the vehicle subject to the estimation noise.
    Type: Application
    Filed: March 30, 2021
    Publication date: October 13, 2022
    Applicant: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Karl Berntorp, Marcus Greiff, Stefano Di Cairano, Kyeong Jin Kim
  • Publication number: 20220326393
    Abstract: A server jointly tracks states of multiple vehicles using measurements of satellite signals received at each vehicle and parameters of the probabilistic distribution of the state of each vehicle. The server fuse states and measurements into an augmented state of the multiple vehicles and an augmented measurement of the augmented state subject to augmented measurement noise defined by a non-diagonal covariance matrix with non-zero off-diagonal elements, each non-zero off-diagonal elements relating errors in the measurements of a pair of corresponding vehicles. The server executes a probabilistic filter updating the augmented state and fuses the state of at least some of the multiple vehicles with a corresponding portion of the updated augmented state.
    Type: Application
    Filed: March 30, 2021
    Publication date: October 13, 2022
    Applicant: Mitsubisho Electric Research Laboratories, Inc.
    Inventors: Karl Berntorp, Marcus Greiff, Stefano Di Cairano, Kyeong Jin Kim
  • Patent number: 11340356
    Abstract: A system for tracking a state of a GNSS receiver uses a subset of the measurements of satellite signals selected to avoid the need for intermediate integers ambiguity estimate. The system selects the subset of measurements for the state tracking such that each measurement in the selected subset of measurements is formed by a weighted combination of multiple different measurements from the set of measurements. The system uses a probabilistic state estimator that tracks the state of the GNSS receiver using a probabilistic motion model subject to noise and a probabilistic measurement model relating the selected subset of the measurements of satellite signals to the current state of the receiver.
    Type: Grant
    Filed: February 13, 2020
    Date of Patent: May 24, 2022
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Karl Berntorp, Marcus Greiff
  • Publication number: 20210278548
    Abstract: A system for tracking a state of a GNSS receiver uses a subset of the measurements of satellite signals selected to avoid the need for intermediate integers ambiguity estimate. The system selects the subset of measurements for the state tracking such that each measurement in the selected subset of measurements is formed by a weighted combination of multiple different measurements from the set of measurements. The system uses a probabilistic state estimator that tracks the state of the GNSS receiver using a probabilistic motion model subject to noise and a probabilistic measurement model relating the selected subset of the measurements of satellite signals to the current state of the receiver.
    Type: Application
    Filed: February 13, 2020
    Publication date: September 9, 2021
    Applicant: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Karl Berntorp, Marcus Greiff
  • Publication number: 20210255335
    Abstract: A system for tracking a state of a GNSS receiver uses a subset of the measurements of satellite signals selected to minimize a loss of information with respect to the set of measurements available to the GNSS receiver. The system uses a probabilistic state estimator that tracks the state of the GNSS receiver using a probabilistic motion model subject to noise and a probabilistic measurement model relating the selected subset of the measurements of satellite signals to the current state of the receiver.
    Type: Application
    Filed: February 13, 2020
    Publication date: August 19, 2021
    Applicant: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Karl Berntorp, Marcus Greiff