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Setterfield TP, Miller DW, Saenz-Otero A, Frazzoli E, Leonard JJ.  2018.  Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis. Journal of Guidance, Control, and Dynamics. 41:2214–2231.
Setterfield T.P, Miller D., Leonard J.J, Saenz-Otero A..  2017.  Smoothing-based estimation of an inspector satellite trajectory relative to a passive object.  (899.35 KB)
Setterfield TP, Miller DW, Leonard JJ, Saenz-Otero A.  2018.  Mapping and determining the center of mass of a rotating object using a moving observer. The International Journal of Robotics Research. 37:83–103. (4.92 MB)
Shafer AJ, Benjamin MR, Leonard JJ, Curcio J.  2008.  Autonomous cooperation of heterogeneous platforms for sea-based search tasks. OCEANS 2008. :1–10. (691.26 KB)
Smith CM, Leonard JJ.  1997.  A multiple hypothesis approach to concurrent mapping and localization for autonomous underwater vehicles. International Conference on Field and Service Robotics.  (384.5 KB)
Smith CM, Leonard JJ, Bennett AA, Shaw C.  1997.  Feature-based concurrent mapping and localization for AUVs. OCEANS ’97 MTS/IEEE Conference Proceedings. 2:896-901. (309.97 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)
Smith CM, Feder HJS, Leonard JJ.  1998.  Multiple Target Tracking with Navigation Uncertainty. {IEEE} Int Conference on Decision and Control (CDC). :760-761. (122.97 KB)
Smith CM, Feder HJS, Leonard JJ.  1998.  Making Difficult Decisions Autonomously: The Impact of Integrated Mapping and Navigation. IEEE AUV. :125-132. (210.39 KB)
Stachniss C, Leonard JJ, Thrun S.  2013.  Simultaneous Localization and Mapping. Springer Handbook of Robotics, Second Edition.
Steiner T, Huang G, Leonard JJ.  2015.  Location Utility-based Map Reduction. International Conference on Robotics and Automation (ICRA).  (1.69 MB)
Straub J, Freifeld O, Rosman G, Leonard JJ, Fisher JW.  2018.  The manhattan frame model—manhattan world inference in the space of surface normals. IEEE transactions on pattern analysis and machine intelligence. 40:235–249. (1.36 MB)
Straub J, Cabezas R, Leonard J, III JWFisher.  2017.  Direction-Aware Semi-Dense SLAM. arXiv preprint arXiv:1709.05774.  (2.59 MB)
Straub J, Rosman G, Freifeld O, Leonard JJ, III JWFisher.  2017.  System and method for extracting dominant orientations from a scene.  (3.34 MB)
Straub J, Rosman G, Freifed O, Leonard JJ, Fisher JW.  2014.  A Mixture of Manhattan Frames: Beyond the Manhattan World. Computer Vision and Pattern Recognition (CVPR), 2014 IEEE Conference on.  (8.32 MB)