Linköpings Universitet

Research Fellow, Docent Björn Olofsson

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. Since May 2016, I work at the Division of Vehicular Systems, Department of Electrical Engineering at Linköping University. I was appointed Docent at Linköping University in 2020.

My research interests are in autonomy of vehicles and robots. More specifically, I do research within motion planning and optimal motion control for both ground vehicles and robot manipulators. I am involved in the ELLIIT Excellence Center in a project investigating autonomous, optimal vehicle maneuvers. I also participate in the Wallenberg AI, Autonomous Systems, and Software Program (WASP), within the Automated Transport Systems cluster.

Publications

Google Scholar Profile: [Link]

Journal Articles

• Pavel Anistratov, Björn Olofsson, & Lars Nielsen: "Lane-deviation penalty formulation and analysis for autonomous vehicle avoidance maneuvers", Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 235:12, pp. 3036-3050, 2021. [DOI]
• Pavel Anistratov, Björn Olofsson, & Lars Nielsen: "Analysis and design of recovery behaviour of autonomous-vehicle avoidance manoeuvres", Vehicle System Dynamics, 2021. [DOI]
• Victor Fors, Pavel Anistratov, Björn Olofsson, & Lars Nielsen: "Predictive Force-Centric Emergency Collision Avoidance", ASME Journal of Dynamic Systems, Measurement, and Control, 143:8, pp. 081005, 2021. [DOI]
• Victor Fors, Björn Olofsson, & Lars Nielsen: "Autonomous Wary Collision Avoidance". IEEE Transactions on Intelligent Vehicles, 6:2, pp. 353-365, 2021. [DOI]
• Björn Olofsson, & Lars Nielsen: "Using Crash Databases to Predict Effectiveness of New Autonomous Vehicle Maneuvers for Lane-Departure Injury Reduction". IEEE Transactions on Intelligent Transportation Systems, 22:6, pp. 3479-3490, 2021. [DOI]
• Victor Fors, Björn Olofsson, & Lars Nielsen: "Attainable force volumes of optimal autonomous at-the-limit vehicle manoeuvres". Vehicle System Dynamics, 58:7, pp. 1101-1122, 2020. [DOI]
• Mahdi Ghazaei, Björn Olofsson, Anders Robertsson, & Rolf Johansson: "Model Predictive Control for Real-Time Point-to-Point Trajectory Generation". IEEE Transactions on Automation Science and Engineering, 16:2, pp. 972-983, 2019. [DOI]
• Victor Fors, Björn Olofsson, & Lars Nielsen: "Formulation and interpretation of optimal braking and steering patterns towards autonomous safety-critical manoeuvres". Vehicle System Dynamics, 57:8, pp. 1206-1223, 2019. [DOI]
• 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

• Theodor Westny, Erik Frisk, & Björn Olofsson: "Vehicle Behavior Prediction and Generalization Using Imbalanced Learning Techniques". In IEEE International Intelligent Transportation Systems Conference (ITSC), Indianapolis, Indiana, 2021. [DOI]
• Julian M. Salt Ducaju, Björn Olofsson, Anders Robertsson, & Rolf Johansson: "Joint Stiction Avoidance with Null-Space Motion in Real-Time Model Predictive Control for Redundant Collaborative Robots". In 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), Vancouver, BC, Canada, 2021. [DOI]
• Pavel Anistratov, Björn Olofsson, Oleg Burdakov, & Lars Nielsen: "Autonomous-Vehicle Maneuver Planning Using Segmentation and the Alternating Augmented Lagrangian Method". In 21st IFAC World Congress, Berlin, Germany, 2020. [DOI]
• Victor Fors, Yangyan Gao, Björn Olofsson, Timothy Gordon, & Lars Nielsen: "Real-Time Minimum-Time Lane Change Using the Modified Hamiltonian Algorithm". In 26th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, Gothenburg, Sweden, 2019. [DOI]
• Victor Fors, Björn Olofsson, & Lars Nielsen: "Yaw-Moment Control At-The-Limit of Friction Using Individual Front-Wheel Steering and Four-Wheel Braking". In International Symposium on Advances in Automotive Control (AAC), Orléans, France, 2019. [DOI]
• Pavel Anistratov, Björn Olofsson, & Lars Nielsen: "Efficient Motion Planning for Autonomous Vehicle Maneuvers Using Duality-Based Decomposition". In International Symposium on Advances in Automotive Control (AAC), Orléans, France, 2019. [DOI]
• 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. [DOI]
• 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, September 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 at Linköping University

Graduate Courses

• Ph.D. course on Advanced Motion Planning and Control (2016, 2021) [Link]

Undergraduate Courses

• Autonomous Vehicles --- Planning, Control, and Learning Systems (2019, 2020, 2021) [Link]

Teaching at Lund University

Graduate Courses

• Ph.D. course Study Circle on Robot Learning and Control (2014) [Link]
• Ph.D. course on Motion Planning and Control (2017) [Link]

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)