Publications

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Conference Paper
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.
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)
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)
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)
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)
Whelan T, Kaess M, Leonard JJ, McDonald JB.  2013.  Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM. iros.
Leonard JJ, Bellingham JG.  1993.  Directed Sensing Strategies for Feature-Relative Navigation. SPIE Sensor Fusion VI.  (3.88 MB)
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.
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)
Fallon MF, Kaess M, Johnnsson H, Leonard JJ.  2011.  Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar.  (1 MB)
Finman R, Whelan T, Kaess M, Leonard JJ.  2014.  Efficient Incremental Map Segmentation in Dense RGB-D Maps. International Conference on Robotics and Automation (ICRA).  (2.93 MB)
Fallon MF, Johnnsson H, Leonard JJ.  2012.  Efficient Scene Simulation for Robust Monte Carlo Localization using an RGB-D Camera.  (1.76 MB)
Eustice R, Singh H, Leonard JJ.  2005.  Exactly Sparse Delayed State Filters. Proceedings of the 2005 {IEEE} International Conference on Robotics and Automation.  (492.03 KB)
Tweddle B, Setterfield TP, Saenz-Otero A, Miller DW, Leonard JJ.  2014.  Experimental Evaluation of On-board, Visual Mapping of an Object Spinning in Micro-Gravity aboard the International Space Station. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Walter M, Leonard JJ.  2004.  An Experimental Investigation of Cooperative SLAM. Proceedings of the Fifth {IFAC} Symposium on Intelligent Autonomous Vehicles.  (513.11 KB)

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