Publications

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2017
Straub J, Cabezas R, Leonard J, III JWFisher.  2017.  Direction-Aware Semi-Dense SLAM. arXiv preprint arXiv:1709.05774.  (2.59 MB)
2016
Tani J, Paull L, Zuber MT, Rus D, How J, Leonard J, Censi A.  2016.  Duckietown: an innovative way to teach autonomy. International Conference EduRobotics 2016.
2014
Paull L, Seto M, Leonard JJ.  2014.  Decentralized Cooperative Trajectory Estimation for Autonomous Underwater Vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  (1.68 MB)
2013
Whelan T, Kaess M, Leonard JJ, McDonald JB.  2013.  Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM. iros.
2012
Walcott-Bryant A, Kaess M, Johnnsson H, Leonard JJ.  2012.  Dynamic Pose Graph SLAM: Long-term Mapping in Low Dynamic Environments. iros.  (2.2 MB)
Bahr A, Leonard JJ, Martinoli A.  2012.  Dynamic Positioning of Beacon Vehicles for Coop- erative Underwater Navigation.  (451.18 KB)
2001
Leonard JJ, Feder HJS.  2001.  Decoupled stochastic mapping. {IEEE} J of Oceanic Eng. 26:561-571. (3.05 MB)
1993
Leonard JJ, Bellingham JG.  1993.  Directed Sensing Strategies for Feature-Relative Navigation. SPIE Sensor Fusion VI.  (3.88 MB)
1992
Leonard JJ, Durrant-Whyte HF.  1992.  Directed Sonar Sensing for Mobile Robot Navigation.  (1.48 MB)
Brown C, Durrant-Whyte H, Leonard JJ, Rao B, Steer B.  1992.  Distributed Data Fusion Using Kalman Filtering: A Robotics Application. Data Fusion in Robotics and Machine Intelligence. :267-309.
Leonard JJ, Cox IJ, Durrant-Whyte HF.  1992.  Dynamic Map Building for an Autonomous Mobile Robot. The International Journal of Robotics Research. 11:286-298.
1990
Leonard JJ.  1990.  Directed Sonar Sensing for Mobile Robot Navigation.
Leonard JJ, Cox IJ, Durrant-Whyte HF.  1990.  Dynamic Map Building for an Autonomous Mobile Robot. Proc {IEEE} Int Workshop on Intelligent Robots and Systems.