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Marcus Greiff

About me

I recently graduated with a doctorate degree from the Department of Automatic Control. I have been working in an SSF-project related to the inventorying of supermarkets using UAVs, and an ELLIIT project concerning gamma ray imaging from mobile spectrometers mounted on UAVs. In addition, I am affiliated with WASP and currently working as a visiting researcher for MERL in Boston.

My main research topics concern nonlinear control and estimation theory, and problems related to quad-rotor UAV control. Specifically, I work on Lyapunov theory for cascaded systems and its application in designing low-level controllers for UAVs. I also work on general estimation theory, attempting to exploit beneficial structure in Rao-Blackwellized particle filtering and linear-regression Kalman filtering. In the past, I have also worked on motion planning and motion feasibility problems, and my research output can be found via the links below.

Recent news

    Teaching and supervision

    • Master Thesis of Gustaf Åman (link to publication)
    • Master Thesis of Martin Gemborn and Olle Hedbrant (link to publication)
    • Master Thesis of Sverre Knutsen (link to publication)
    • FRTN70 - Projects on Control, Systems and Learning - Spring 2021
    • FRTN05 - Nonlinear Control - Autumn 2020
    • FRTN15 - Predictive Control - Spring of 2018, 2019, 2020
    • FRTN40 - Projects in Automatic Control - Autumn of 2017, 2018, 2020
    • FRTN25 - Systems Engineering - Spring of 2017
    • FRTF05 - Control theory basic course - Autumn of 2018


    email: marcus.greiff at

    phone: +46766322149