Publications

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Bennett AB, Leonard JJ, Bellingham JG.  1995.  Bottom Following for Survey Class Autonomous Underwater Vehicles. Proc Int Symp on Unmanned Untethered Submersible Technology.  (5.48 MB)
Wang H-C, Finn C, Paull L, Kaess M, Rosenholtz R, Teller S, Leonard JJ.  2015.  Bridging Text Spotting and SLAM with Junction Features. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  (1.72 MB)
C
Brown C, Durrant-Whyte H, Leonard JJ, Rao B.  1989.  Centralized and Decentralized Kalman Filter Techniques for Tracking, Navigation, and Control. DARPA Image Understanding Workshop.
Folkesson J, Christensen H.  2007.  Closing the Loop with Graphical SLAM. 23:731–741.
Paull L, Huang G, Seto M, Leonard JJ.  2015.  Communication-Constrained Multi-AUV Cooperative SLAM. International Conference on Robotics and Automation (ICRA).  (1.68 MB)
Vaganay J, Bellingham JG, Leonard JJ.  1998.  Comparison of Fix Computation and Filtering for Autonomous Acoustic Navigation. International Journal of Systems Science. 29:1111-1122. (5.07 MB)
Leonard JJ, Feder HJS.  2000.  A computationally efficient method for large-scale concurrent mapping and localization. Robotics Research: The Ninth International Symposium.  (2.24 MB)
Kaess M, Williams S, Indelman V, Roberts R, Leonard JJ, Dellaert F.  2012.  Concurrent Filtering and Smoothing.  (474.18 KB)
Smith CM, Leonard JJ, Bennett AA, Shaw C.  1997.  Concurrent mapping and localization for autonomous underwater vehicles. Undersea Defence Technology. :338-342. (271.33 KB)
Leonard JJ, Newman PM, Fenwick JW, Rikoski RJ.  2001.  Concurrent Mapping and Localization for Multiple Autonomous Underwater Vehicles. {GOATS} Workshop.  (758.29 KB)
Leonard JJ, Newman PM.  2003.  Consistent, Convergent, and Constant-time SLAM. International Joint Conference on Artificial Intelligence.  (448.97 KB)
Bahr A, Walter M, Leonard JJ.  2009.  Consistent cooperative localization.  (470.34 KB)
Huang G, Kaess M, Leonard JJ.  2013.  Consistent Sparsification for Graph Optimization. Proc of European Conference on Mobile Robots (ECMR).  (931.4 KB)
Huang G, Kaess M, Leonard JJ.  2015.  Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking. Robotics and Autonomous Systems. 69
Rosen DM, DuHadway C, Leonard JJ.  2015.  A Convex Relaxation for Approximate Global Optimization in Simultaneous Localization and Mapping. International Conference on Robotics and Automation (ICRA).  (2.76 MB)
Fallon MF, Papadopoulos G, Leonard JJ, Patrikalakis NM.  2010.  Cooperative AUV Navigation using a Single Maneuvering Surface Craft. 29:1461-1474. (726.27 KB)
Fallon MF, Papadopoulos G, Leonard JJ.  2009.  Cooperative AUV Navigation using a Single Surface Craft.  (354.58 KB)
Fenwick J, Newman P, Leonard JJ.  2002.  Cooperative concurrent mapping and localization.  (576.24 KB)
Bahr A, Leonard JJ.  2008.  Cooperative Localization for Autonomous Underwater Vehicles. Experimental Robotics.  (226.78 KB)
Bahr A, Leonard JJ, Fallon MF.  2009.  Cooperative Localization for Autonomous Underwater Vehicles. International Journal of Robotics Research. 28:714-728. (660.08 KB)
Bahr A.  2009.  Cooperative Localization for Autonomous Underwater Vehicles.
Papadopoulos G, Fallon MF, Leonard JJ, Patrikalakis NM.  2010.  Cooperative Localization of Marine Vehicles using Nonlinear State Estimation.  (953.23 KB)
Leonard JJ.  2000.  Cooperative mapping and navigation for multiple unmanned underwater vehicles. International Unmanned Undersea Vehicle Symposium, Naval Undersea Warfare Center.  (1.46 MB)
Moran BA, Leonard JJ, Chryssostomidis C.  1997.  Curved Shape Reconstruction Using Multiple Hypothesis Tracking. {IEEE} J of Oceanic Eng. 22:625-638. (351.74 KB)
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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)

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