John J. Leonard

Michael Kaess, Hordur Johannsson, Richard Roberts, Viorela Ila, John J. Leonard, Frank Dellaert: iSAM2: Incremental smoothing and mapping using the Bayes tree. I. J. Robotic Res. 31(2): 216-235 (2012)

Franz S. Hover, Ryan Eustice, Ayoung Kim, Brendan Englot, Hordur Johannsson, Michael Kaess, John J. Leonard: Advanced perception, navigation and planning for autonomous in-water ship hull inspection. I. J. Robotic Res. 31(12): 1445-1464 (2012)

David M. Rosen, Michael Kaess, John J. Leonard: An incremental trust-region method for Robust online sparse least-squares estimation. ICRA 2012: 1262-1269

Maurice F. Fallon, Hordur Johannsson, John J. Leonard: Efficient scene simulation for robust monte carlo localization using an RGB-D camera. ICRA 2012: 1663-1670

Aisha Walcott-Bryant, Michael Kaess, Hordur Johannsson, John J. Leonard: Dynamic pose graph SLAM: Long-term mapping in low dynamic environments. IROS 2012: 1871-1878

Alexander Bahr, John J. Leonard, Alcherio Martinoli: Dynamic positioning of beacon vehicles for cooperative underwater navigation. IROS 2012: 3760-3767

Maurice F. Fallon, Hordur Johannsson, Jonathan Brookshire, Seth J. Teller, John J. Leonard: Sensor fusion for flexible human-portable building-scale mapping. IROS 2012: 4405-4412

Robert Truax, Robert Platt, John J. Leonard: Using prioritized relaxations to locate objects in points clouds for manipulation. ICRA 2011: 2091-2097

Maurice F. Fallon, Michael Kaess, Hordur Johannsson, John J. Leonard: Efficient AUV navigation fusing acoustic ranging and side-scan sonar. ICRA 2011: 2398-2405

Michael Kaess, Hordur Johannsson, Richard Roberts, Viorela Ila, John J. Leonard, Frank Dellaert: iSAM2: Incremental smoothing and mapping with fluid relinearization and incremental variable reordering. ICRA 2011: 3281-3288

Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard, Nicholas M. Patrikalakis: Cooperative AUV Navigation using a Single Maneuvering Surface Craft. I. J. Robotic Res. 29(12): 1461-1474 (2010)

Albert S. Huang, Matthew E. Antone, Edwin Olson, Luke Fletcher, David Moore, Seth J. Teller, John J. Leonard: A High-rate, Heterogeneous Data Set From The DARPA Urban Challenge. I. J. Robotic Res. 29(13): 1595-1601 (2010)

Michael R. Benjamin, Henrik Schmidt, Paul M. Newman, John J. Leonard: Nested autonomy for unmanned marine vehicles with MOOS-IvP. J. Field Robotics 27(6): 834-875 (2010)

Been Kim, Michael Kaess, Luke Fletcher, John J. Leonard, Abraham Bachrach, Nicholas Roy, Seth J. Teller: Multiple relative pose graphs for robust cooperative mapping. ICRA 2010: 3185-3192

Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard: A measurement distribution framework for cooperative navigation using multiple AUVs. ICRA 2010: 4256-4263

Hordur Johannsson, Michael Kaess, Brendan Englot, Franz Hover, John J. Leonard: Imaging sonar-aided navigation for autonomous underwater harbor surveillance. IROS 2010: 4396-4403

Georgios Papadopoulos, Maurice F. Fallon, John J. Leonard, Nicholas M. Patrikalakis: Cooperative localization of marine vehicles using nonlinear state estimation. IROS 2010: 4874-4879

Alexander Bahr, John J. Leonard, Maurice F. Fallon: Cooperative Localization for Autonomous Underwater Vehicles. I. J. Robotic Res. 28(6): 714-728 (2009)

John J. Leonard, Jonathan P. How, Seth J. Teller, Mitch Berger, Stefan Campbell, Gaston A. Fiore, Luke Fletcher, Emilio Frazzoli, Albert S. Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew Walter, David Barrett, Alexander Epstein, Keoni Maheloni, Katy Moyer, Troy Jones, Ryan Buckley, Matthew E. Antone, Robert Galejs, Siddhartha Krishnamurthy, Jonathan Williams: A Perception-Driven Autonomous Urban Vehicle. The DARPA Urban Challenge 2009: 163-230

Luke Fletcher, Seth J. Teller, Edwin Olson, David Moore, Yoshiaki Kuwata, Jonathan P. How, John J. Leonard, Isaac Miller, Mark E. Campbell, Dan Huttenlocher, Aaron Nathan, Frank-Robert Kline: The MIT - Cornell Collision and Why It Happened. The DARPA Urban Challenge 2009: 509-548

Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard: Cooperative AUV Navigation Using a Single Surface Craft. FSR 2009: 331-340

Alexander Bahr, Matthew R. Walter, John J. Leonard: Consistent cooperative localization. ICRA 2009: 3415-3422

David C. Moore, Albert S. Huang, Matthew Walter, Edwin Olson, Luke Fletcher, John J. Leonard, Seth J. Teller: Simultaneous local and global state estimation for robotic navigation. ICRA 2009: 3794-3799

John Folkesson, John J. Leonard: Autonomy through SLAM for an Underwater Robot. ISRR 2009: 55-70

John J. Leonard, Jonathan P. How, Seth J. Teller, Mitch Berger, Stefan Campbell, Gaston A. Fiore, Luke Fletcher, Emilio Frazzoli, Albert S. Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew Walter, David Barrett, Alexander Epstein, Keoni Maheloni, Katy Moyer, Troy Jones, Ryan Buckley, Matthew E. Antone, Robert Galejs, Siddhartha Krishnamurthy, Jonathan Williams: A perception-driven autonomous urban vehicle. J. Field Robotics 25(10): 727-774 (2008)

Luke Fletcher, Seth J. Teller, Edwin Olson, David Moore, Yoshiaki Kuwata, Jonathan P. How, John J. Leonard, Isaac Miller, Mark E. Campbell, Dan Huttenlocher, Aaron Nathan, Frank-Robert Kline: The MIT-Cornell collision and why it happened. J. Field Robotics 25(10): 775-807 (2008)

Matthew Walter, Franz Hover, John J. Leonard: SLAM for ship hull inspection using exactly sparse extended information filters. ICRA 2008: 1463-1470

Sebastian Thrun, John J. Leonard: Simultaneous Localization and Mapping. Springer Handbook of Robotics 2008: 871-889

Matthew Walter, Ryan Eustice, John J. Leonard: Exactly Sparse Extended Information Filters for Feature-based SLAM. I. J. Robotic Res. 26(4): 335-359 (2007)

Alexander Bahr, John J. Leonard: Minimizing Trilateration Errors in the Presence of Uncertain Landmark Positions. EMCR 2007

John Folkesson, Jacques Leederkerken, Rob Williams, Andrew Patrikalakis, John J. Leonard: A Feature Based Navigation System for an Autonomous Underwater Robot. FSR 2007: 105-114

Edwin Olson, John J. Leonard, Seth J. Teller: Spatially-Adaptive Learning Rates for Online Incremental SLAM. Robotics: Science and Systems 2007

Ryan Eustice, Hanumant Singh, John J. Leonard, Matthew Walter: Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters. I. J. Robotic Res. 25(12): 1223-1242 (2006)

Michael R. Benjamin, John J. Leonard, Joseph A. Curcio, Paul M. Newman: A method for protocol-based collision avoidance between autonomous marine surface craft. J. Field Robotics 23(5): 333-346 (2006)

Ryan Eustice, Hanumant Singh, John J. Leonard: Exactly Sparse Delayed-State Filters for View-Based SLAM. IEEE Transactions on Robotics 22(6): 1100-1114 (2006)

Edwin Olson, John J. Leonard, Seth J. Teller: Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates. ICRA 2006: 2262-2269

Michael R. Benjamin, Joseph A. Curcio, John J. Leonard, Paul M. Newman: Navigation of Unmanned Marine Vehicles in Accordance with the Rules of the Road. ICRA 2006: 3581-3587

Donald P. Eickstedt, Michael R. Benjamin, Henrik Schmidt, John J. Leonard: Adaptive Control of Heterogeneous Marine Sensor Platforms in an Autonomous Sensor Network. IROS 2006: 5514-5521

Alexander Bahr, John J. Leonard: Cooperative Localization for Autonomous Underwater Vehicles. ISER 2006: 387-395

Carrick Detweiler, John J. Leonard, Daniela Rus, Seth J. Teller: Passive Mobile Robot Localization within a Fixed Beacon Field. WAFR 2006: 425-440

Ryan Eustice, Hanumant Singh, John J. Leonard: Exactly Sparse Delayed-State Filters. ICRA 2005: 2417-2424

Ryan Eustice, Matthew Walter, John J. Leonard: Sparse extended information filters: insights into sparsification. IROS 2005: 3281-3288

Matthew Walter, Ryan Eustice, John J. Leonard: A Provably Consistent Method for Imposing Sparsity in Feature-Based SLAM Information Filters. ISRR 2005: 214-234

Ryan Eustice, Hanumant Singh, John J. Leonard, Matthew Walter, Robert Ballard: Visually Navigating the RMS Titanic with SLAM Information Filters. Robotics: Science and Systems 2005: 57-64

Edwin Olson, Matthew Walter, Seth J. Teller, John J. Leonard: Single-Cluster Spectral Graph Partitioning for Robotics Applications. Robotics: Science and Systems 2005: 265-272

Michael Bosse, Paul M. Newman, John J. Leonard, Seth J. Teller: Simultaneous Localization and Map Building in Large-Scale Cyclic Environments Using the Atlas Framework. I. J. Robotic Res. 23(12): 1113-1139 (2004)

Richard J. Rikoski, John J. Leonard, Paul M. Newman, Henrik Schmidt: Trajectory Sonar Perception in the Ligurian Sea. ISER 2004: 557-570

David C. Moore, John J. Leonard, Daniela Rus, Seth J. Teller: Robust distributed network localization with noisy range measurements. SenSys 2004: 50-61

Michael Bosse, Richard J. Rikoski, John J. Leonard, Seth J. Teller: Vanishing points and three-dimensional lines from omni-directional video. The Visual Computer 19(6): 417-430 (2003)

Richard J. Rikoski, John J. Leonard: Trajectory sonar perceptio. ICRA 2003: 963-970

Paul M. Newman, Michael Bosse, John J. Leonard: Autonomous feature-based exploration. ICRA 2003: 1234-1240

Michael Bosse, Paul M. Newman, John J. Leonard, Martin Soika, Wendelin Feiten, Seth J. Teller: An atlas framework for scalable mapping. ICRA 2003: 1899-1906

Paul M. Newman, John J. Leonard: Pure range-only sub-sea SLAM. ICRA 2003: 1921-1926

John J. Leonard, Paul M. Newman: Consistent, Convergent, and Constant-Time SLAM. IJCAI 2003: 1143-1150

Paul M. Newman, John J. Leonard, Richard J. Rikoski: Towards Constant-Time SLAM on an Autonomous Underwater Vehicle Using Synthetic Aperture Sonar. ISRR 2003: 409-420

Juan D. Tardós, José Neira, Paul M. Newman, John J. Leonard: Robust Mapping and Localization in Indoor Environments Using Sonar Data. I. J. Robotic Res. 21(4): 311-330 (2002)

John J. Leonard, Richard J. Rikoski, Paul M. Newman, Michael Bosse: Mapping Partially Observable Features from Multiple Uncertain Vantage Points. I. J. Robotic Res. 21(10-11): 943-976 (2002)

Michael Bosse, Richard J. Rikoski, John J. Leonard, Seth J. Teller: Vanishing points and 3D lines from omnidirectional video. ICIP (3) 2002: 513-516

Richard J. Rikoski, John J. Leonard, Paul M. Newman: Stochastic Mapping Frameworks. ICRA 2002: 426-433

Paul M. Newman, John J. Leonard, Juan D. Tardós, José Neira: Explore and Return: Experimental Validation of Real-Time Concurrent Mapping and Localization. ICRA 2002: 1802-1809

John W. Fenwick, Paul M. Newman, John J. Leonard: Cooperative Concurrent Mapping and Localization. ICRA 2002: 1810-1817

John J. Leonard, Paul M. Newman, Richard J. Rikoski, José Neira, Juan D. Tardós: Towards Robust Data Association and Feature Modeling for Concurrent Mapping and Localization. ISRR 2001: 7-20

Jong Hwan Lim, John J. Leonard: Mobile Robot Relocation from Echolocation Constraints. IEEE Trans. Pattern Anal. Mach. Intell. 22(9): 1035-1041 (2000)

John J. Leonard, Richard J. Rikoski: Incorporation of Delayed Decision Making into Stochastic Mapping. ISER 2000: 533-542

Hans Jacob S. Feder, John J. Leonard, Christopher M. Smith: Adaptive Mobile Robot Navigation and Mapping. I. J. Robotic Res. 18(7): 650-668 (1999)

John J. Leonard, Hans Jacob S. Feder: Experimental Analysis of Adaptive Concurrent Mapping and Localization Using Sonar. ISER 1999: 297-306

Jerome Vaganay, James G. Bellingham, John J. Leonard: Comparison of fix computation and filtering for autonomous acoustic navigation. Int. J. Systems Science 29(10): 1111-1122 (1998)

Jerome Vaganay, John J. Leonard, James G. Bellingham: Outlier rejection for autonomous acoustic navigation. ICRA 1996: 2174-2181

John J. Leonard, Bradley A. Moran, Ingemar J. Cox, Matthew L. Miller: Underwater Sonar Data Fusion Using Efficient Multiple Hypothesis Algorithm. ICRA 1995: 2995-3002

Ingemar J. Cox, John J. Leonard: Modeling a Dynamic Environment Using a Bayesian Multiple Hypothesis Approach. Artif. Intell. 66(2): 311-344 (1994)