He had previously a position as Senior Scientist at FOI, and gradually moved to LiU through an adjunct position. He is supervising a handful of students with theoretical subjects relevant for security applications and is coordinating many of the projects in Wildlife Security. Gustaf is also involved in several collaborations between FOI and LiU, in particular a long-term project to provide indoor positioning to first responders using SLAM based on a foot-mounted IMU and opportunistic RSS measurements. This has so far resulted in two best paper awards at the IPIN conference.