2023

• M. Flynn, B. W. O’Neill, D. P. Hart, and J. J. Leonard, “A Comparative Analysis of Maneuvering Strategies for Cooperative Range-based Localization,” in OCEANS 2023-Limerick, 2023.
  BibTeX

  @inproceedings{flynn23oceans,
    title = {A Comparative Analysis of Maneuvering Strategies for Cooperative Range-based Localization},
    author = {Flynn, Megan and O'Neill, Brendan W and Hart, Douglas P and Leonard, John J},
    booktitle = {OCEANS 2023-Limerick},
    year = {2023},
    organization = {IEEE}
  }
  

• J. Fu, Y. Du, K. Singh, J. B. Tenenbaum, and J. J. Leonard, “NeuSE: Neural SE (3)-Equivariant Embedding for Consistent Spatial Understanding with Objects,” in Proceedings of Robotics: Science and Systems (RSS), 2023.
  BibTeX

  @inproceedings{fu2023rss,
    title = {{NeuSE}: Neural {SE} (3)-Equivariant Embedding for Consistent Spatial Understanding with Objects},
    author = {Fu, Jiahui and Du, Yilun and Singh, Kurran and Tenenbaum, Joshua B and Leonard, John J},
    booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
    year = {2023}
  }
  

• Q. Huang and J. J. Leonard, “GAPSLAM: Blending Gaussian Approximation and Particle Filters for Real-Time Non-Gaussian SLAM,” IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2023.
  BibTeX

  @article{huang23iros,
    title = {{GAPSLAM}: Blending {G}aussian Approximation and Particle Filters for Real-Time Non-{G}aussian {SLAM}},
    author = {Huang, Qiangqiang and Leonard, John J},
    journal = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2023},
    arxiv = {2303.14283}
  }
  

• Q. Huang, J. DeGol, V. Fragoso, S. N. Sinha, and J. J. Leonard, “Optimizing fiducial marker placement for improved visual localization,” IEEE Robotics and Automation Letters, vol. 8, no. 5, pp. 2756–2763, 2023.
  BibTeX

  @article{huang23ral,
    title = {Optimizing fiducial marker placement for improved visual localization},
    author = {Huang, Qiangqiang and DeGol, Joseph and Fragoso, Victor and Sinha, Sudipta N and Leonard, John J},
    journal = {IEEE Robotics and Automation Letters},
    volume = {8},
    number = {5},
    pages = {2756--2763},
    year = {2023},
    publisher = {IEEE}
  }
  

• A. Papalia, A. Fishberg, B. W. O’Neill, J. P. How, D. M. Rosen, and J. J. Leonard, “Certifiably Correct Range-Aided SLAM,” arXiv preprint arXiv:2302.11614, 2023.
  BibTeX

  @article{papalia23arxiv,
    title = {Certifiably Correct Range-Aided {SLAM}},
    author = {Papalia, Alan and Fishberg, Andrew and O'Neill, Brendan W and How, Jonathan P and Rosen, David M and Leonard, John J},
    journal = {arXiv preprint arXiv:2302.11614},
    year = {2023}
  }
  

• A. Papalia, J. Morales, K. J. Doherty, D. M. Rosen, and J. J. Leonard, “SCORE: A second-order conic initialization for range-aided SLAM,” in 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, pp. 10637–10644.
  BibTeX

  @inproceedings{papalia23icra,
    title = {{SCORE}: A second-order conic initialization for range-aided {SLAM}},
    author = {Papalia, Alan and Morales, Joseph and Doherty, Kevin J and Rosen, David M and Leonard, John J},
    booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
    pages = {10637--10644},
    year = {2023},
    organization = {IEEE}
  }
  

• A. Rosinol, J. J. Leonard, and L. Carlone, “NeRF-SLAM: Real-time dense monocular slam with neural radiance fields,” IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2023.
  BibTeX

  @article{rosinol23iros,
    title = {{NeRF-SLAM}: Real-time dense monocular slam with neural radiance fields},
    author = {Rosinol, Antoni and Leonard, John J and Carlone, Luca},
    journal = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2023}
  }
  

• A. Rosinol, J. J. Leonard, and L. Carlone, “Probabilistic volumetric fusion for dense monocular SLAM,” in Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision, 2023, pp. 3097–3105.
  BibTeX

  @inproceedings{rosinol23wacv,
    title = {Probabilistic volumetric fusion for dense monocular {SLAM}},
    author = {Rosinol, Antoni and Leonard, John J and Carlone, Luca},
    booktitle = {Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision},
    pages = {3097--3105},
    year = {2023}
  }
  

• K. Singh, N. Rypkema, and J. Leonard, “Attention-based Self-Supervised Hierarchical Semantic Segmentation for Underwater Imagery,” in OCEANS 2023-Limerick, 2023.
  BibTeX

  @inproceedings{singh23oceans,
    title = {Attention-based Self-Supervised Hierarchical Semantic Segmentation for Underwater Imagery},
    author = {Singh, Kurran and Rypkema, Nick and Leonard, John},
    booktitle = {OCEANS 2023-Limerick},
    year = {2023},
    organization = {IEEE}
  }
  

• Y. Zhang, O. A. Severinsen, J. J. Leonard, L. Carlone, and K. Khosoussi, “Data-Association-Free Landmark-based SLAM,” arXiv preprint arXiv:2302.13264, 2023.
  BibTeX

  @article{zhang23arxiv,
    title = {Data-Association-Free Landmark-based SLAM},
    author = {Zhang, Yihao and Severinsen, Odin A and Leonard, John J and Carlone, Luca and Khosoussi, Kasra},
    journal = {arXiv preprint arXiv:2302.13264},
    year = {2023}
  }
  

2022

• K. J. Doherty, D. M. Rosen, and J. J. Leonard, “Performance guarantees for spectral initialization in rotation averaging and pose-graph SLAM,” in 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 5608–5614.
  BibTeX

  @inproceedings{doherty22icra,
    title = {Performance guarantees for spectral initialization in rotation averaging and pose-graph SLAM},
    author = {Doherty, Kevin J and Rosen, David M and Leonard, John J},
    booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
    pages = {5608--5614},
    year = {2022},
    organization = {IEEE}
  }
  

• K. J. Doherty, D. M. Rosen, and J. J. Leonard, “Spectral measurement sparsification for pose-graph SLAM,” in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 01–08.
  BibTeX

  @inproceedings{doherty22iros,
    title = {Spectral measurement sparsification for pose-graph SLAM},
    author = {Doherty, Kevin J and Rosen, David M and Leonard, John J},
    booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages = {01--08},
    year = {2022},
    organization = {IEEE}
  }
  

• K. J. Doherty, Z. Lu, K. Singh, and J. J. Leonard, “Discrete-continuous smoothing and mapping,” IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 12395–12402, 2022.
  BibTeX

  @article{doherty22ral,
    title = {Discrete-continuous smoothing and mapping},
    author = {Doherty, Kevin J and Lu, Ziqi and Singh, Kurran and Leonard, John J},
    journal = {IEEE Robotics and Automation Letters},
    volume = {7},
    number = {4},
    pages = {12395--12402},
    year = {2022},
    publisher = {IEEE}
  }
  

• J. Fu, Y. Du, K. Singh, J. B. Tenenbaum, and J. J. Leonard, “Robust Change Detection Based on Neural Descriptor Fields,” in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 2817–2824.
  BibTeX

  @inproceedings{fu22iros,
    title = {Robust Change Detection Based on Neural Descriptor Fields},
    author = {Fu, Jiahui and Du, Yilun and Singh, Kurran and Tenenbaum, Joshua B and Leonard, John J},
    booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages = {2817--2824},
    year = {2022},
    organization = {IEEE}
  }
  

• J. Fu, C. Lin, Y. Taguchi, A. Cohen, Y. Zhang, S. Mylabathula, and J. J. Leonard, “PlaneSDF-Based Change Detection for Long-Term Dense Mapping,” IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9667–9674, 2022.
  BibTeX

  @article{fu22ral,
    title = {PlaneSDF-Based Change Detection for Long-Term Dense Mapping},
    author = {Fu, Jiahui and Lin, Chengyuan and Taguchi, Yuichi and Cohen, Andrea and Zhang, Yifu and Mylabathula, Stephen and Leonard, John J},
    journal = {IEEE Robotics and Automation Letters},
    volume = {7},
    number = {4},
    pages = {9667--9674},
    year = {2022},
    publisher = {IEEE}
  }
  

• Q. Huang, A. Papalia, and J. J. Leonard, “Nested Sampling for Non-Gaussian Inference in SLAM Factor Graphs,” IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9232–9239, 2022.
  DOI, BibTeX

  @article{huang22ral,
    author = {Huang, Qiangqiang and Papalia, Alan and Leonard, John J.},
    journal = {IEEE Robotics and Automation Letters},
    title = {Nested Sampling for Non-{G}aussian Inference in {SLAM} Factor Graphs},
    year = {2022},
    volume = {7},
    number = {4},
    pages = {9232-9239},
    doi = {10.1109/LRA.2022.3189786}
  }
  

• Q. Huang, C. Pu, K. Khosoussi, D. M. Rosen, D. Fourie, J. P. How, and J. J. Leonard, “Incremental non-Gaussian inference for SLAM using normalizing flows,” IEEE Transactions on Robotics, vol. 39, no. 2, pp. 1458–1475, 2022.
  BibTeX

  @article{huang22tro,
    title = {Incremental non-{G}aussian inference for {SLAM} using normalizing flows},
    author = {Huang, Qiangqiang and Pu, Can and Khosoussi, Kasra and Rosen, David M and Fourie, Dehann and How, Jonathan P and Leonard, John J},
    journal = {IEEE Transactions on Robotics},
    volume = {39},
    number = {2},
    pages = {1458--1475},
    year = {2022},
    publisher = {IEEE}
  }
  

• Z. Lu, Y. Zhang, K. Doherty, O. A. Severinsen, E. Yang, and J. Leonard, “SLAM-Supported Self-Training for 6D Object Pose Estimation,” arXiv preprint arXiv:2203.04424, 2022.
  BibTeX

  @article{lu2022slam,
    title = {SLAM-Supported Self-Training for 6D Object Pose Estimation},
    author = {Lu, Ziqi and Zhang, Yihao and Doherty, Kevin and Severinsen, Odin A and Yang, Ethan and Leonard, John},
    journal = {arXiv preprint arXiv:2203.04424},
    year = {2022}
  }
  

• B. W. O’Neill, J. R. Pelletier, S. Calvert, A. Papalia, J. J. Leonard, L. Freitag, and E. Gallimore, “Loosely-Coupled Human-Robot Teams for Enhanced Undersea Operations,” in OCEANS 2022, Hampton Roads, 2022.
  BibTeX

  @inproceedings{oneill22oceans,
    title = {Loosely-Coupled Human-Robot Teams for Enhanced Undersea Operations},
    author = {O'Neill, Brendan W and Pelletier, Jesse R and Calvert, S and Papalia, Alan and Leonard, John J and Freitag, Lee and Gallimore, Eric},
    booktitle = {OCEANS 2022, Hampton Roads},
    year = {2022},
    organization = {IEEE}
  }
  

• A. Papalia, N. Thumma, and J. Leonard, “Prioritized Planning for Cooperative Range-Only Localization in Multi-Robot Networks,” in 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 10753–10759.
  E-Print, BibTeX

  @inproceedings{papalia2022icra,
    title = {Prioritized Planning for Cooperative Range-Only Localization in Multi-Robot Networks},
    author = {Papalia, Alan and Thumma, Nicole and Leonard, John},
    booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
    pages = {10753--10759},
    year = {2022},
    organization = {IEEE},
    archiveprefix = {arXiv},
    primaryclass = {cs.RO},
    eprint = {https://arxiv.org/abs/2109.05132}
  }
  

• J. R. Pelletier, B. W. O’Neill, J. J. Leonard, L. Freitag, and E. Gallimore, “AUV-Assisted Diver Navigation,” IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10208–10215, 2022.
  DOI, BibTeX

  @article{pelletier22ral,
    author = {Pelletier, Jesse R. and O'Neill, Brendan W. and Leonard, John J. and Freitag, Lee and Gallimore, Eric},
    journal = {IEEE Robotics and Automation Letters},
    title = {AUV-Assisted Diver Navigation},
    year = {2022},
    volume = {7},
    number = {4},
    pages = {10208-10215},
    doi = {10.1109/LRA.2022.3191164}
  }
  

2021

• V. Amblard, T. P. Osedach, A. Croux, A. Speck, and J. J. Leonard, “Lidar-Monocular Surface Reconstruction Using Line Segments,” IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  BibTeX

  @article{amblard21arxiv,
    title = {Lidar-Monocular Surface Reconstruction Using Line Segments},
    author = {Amblard, Victor and Osedach, Timothy P and Croux, Arnaud and Speck, Andrew and Leonard, John J},
    journal = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = {2021}
  }
  

• J. Fu, Q. Huang, K. Doherty, Y. Wang, and J. J. Leonard, “A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
  E-Print, BibTeX

  @inproceedings{fu21iros,
    title = {A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM},
    author = {Fu, J. and Huang, Q. and Doherty, K. and Wang, Y. and Leonard, J. J.},
    booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2021},
    organization = {IEEE},
    eprint = {https://arxiv.org/pdf/2108.01225.pdf}
  }
  

• X. Huang, S. G. McGill, J. A. DeCastro, L. Fletcher, J. J. Leonard, B. C. Williams, and G. Rosman, “CARPAL: Confidence-aware intent recognition for parallel autonomy,” IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4433–4440, 2021.
  E-Print, BibTeX

  @article{huang21ral,
    title = {CARPAL: Confidence-aware intent recognition for parallel autonomy},
    author = {Huang, Xin and McGill, Stephen G and DeCastro, Jonathan A and Fletcher, Luke and Leonard, John J and Williams, Brian C and Rosman, Guy},
    journal = {IEEE Robotics and Automation Letters},
    volume = {6},
    number = {3},
    pages = {4433--4440},
    year = {2021},
    publisher = {IEEE},
    eprint = {https://arxiv.org/pdf/2003.08003}
  }
  

• Q. Huang, C. Pu, D. Fourie, K. Khosoussi, J. P. How, and J. J. Leonard, “NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  E-Print, BibTeX

  @inproceedings{huangq21icra,
    title = {{NF}-i{SAM}: Incremental Smoothing and Mapping via Normalizing Flows},
    author = {Huang, Q. and Pu, C. and Fourie, D. and Khosoussi, K. and How, J. P. and Leonard, J. J.},
    booktitle = {{IEEE} Intl. Conf. on Robotics and Automation ({ICRA})},
    year = {2021},
    organization = {IEEE},
    eprint = {https://arxiv.org/pdf/2105.05045.pdf}
  }
  

• Z. Lu, Q. Huang, K. Doherty, and J. J. Leonard, “Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
  E-Print, BibTeX

  @inproceedings{lu21iros,
    title = {Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM},
    author = {Lu, Z. and Huang, Q. and Doherty, K. and Leonard, J. J.},
    booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2021},
    organization = {IEEE},
    eprint = {https://arxiv.org/pdf/2107.09265.pdf}
  }
  

• D. M. Rosen, K. J. Doherty, A. Terán Espinoza, and J. J. Leonard, “Advances in inference and representation for simultaneous localization and mapping,” Annual Review of Control, Robotics, and Autonomous Systems, vol. 4, pp. 215–242, 2021.
  Web link, E-Print, BibTeX

  @article{rosen21annualreviews,
    title = {Advances in inference and representation for simultaneous localization and mapping},
    author = {Rosen, David M and Doherty, Kevin J and Ter{\'a}n Espinoza, Antonio and Leonard, John J},
    journal = {Annual Review of Control, Robotics, and Autonomous Systems},
    volume = {4},
    pages = {215--242},
    year = {2021},
    publisher = {Annual Reviews},
    url = {
                   https://www.annualreviews.org/doi/full/10.1146/annurev-control-072720-082553 },
    eprint = {https://arxiv.org/abs/2103.05041}
  }
  

• Y. Zhang and J. J. Leonard, “A Front-End for Dense Monocular SLAM using a Learned Outlier Mask Prior,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  E-Print, BibTeX

  @inproceedings{zhang21icra,
    title = {A Front-End for Dense Monocular {SLAM} using a Learned Outlier Mask Prior},
    author = {Zhang, Y. and Leonard, J. J.},
    booktitle = {{IEEE} Intl. Conf. on Robotics and Automation ({ICRA})},
    year = {2021},
    organization = {IEEE},
    eprint = {https://arxiv.org/pdf/2104.00562.pdf}
  }
  

• Y. Zhang and J. J. Leonard, “Bootstrapped Self-Supervised Training with Monocular Video for Semantic Segmentation and Depth Estimation,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
  E-Print, BibTeX

  @inproceedings{zhang21iros,
    title = {Bootstrapped Self-Supervised Training with Monocular Video for Semantic Segmentation and Depth Estimation},
    author = {Zhang, Y. and Leonard, J. J.},
    booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2021},
    organization = {IEEE},
    eprint = {https://arxiv.org/pdf/2103.11031.pdf}
  }
  

2020

• T. P. Osedach, K. Singh, P. V. Texeira, J. Arber, A. Levesque, C. Chahbazia, D. Jain, B. Englot, J. J. Leonard, S. Vannuffelen, and S. Ossian, “Proxy Platform for Underwater Inspection, Maintenance, and Repair,” in Proc. of the IEEE/MTS OCEANS Conf. and Exhibition, 2020.
  E-Print, DOI, BibTeX

  @inproceedings{osedach20oceans,
    title = {Proxy Platform for Underwater Inspection, Maintenance, and Repair},
    author = {Osedach, T.P. and Singh, K. and Texeira, P.V. and Arber, J. and Levesque, A. and Chahbazia, C. and Jain, D. and Englot, B. and Leonard, J.J. and Vannuffelen, S. and Ossian, S.},
    journal = {Proc. of the IEEE/MTS OCEANS Conf. and Exhibition},
    year = {2020},
    month = oct,
    publisher = {IEEE},
    eprint = {https://ieeexplore.ieee.org/document/9389148},
    doi = { 10.1109/IEEECONF38699.2020.9389148}
  }
  

• J. J. Leonard, D. A. Mindell, and E. L. Stayton, “Autonomous Vehicles, Mobility, and Employment Policy: The Roads Ahead.” MIT Work of the Future, 2020.
  E-Print, BibTeX

  @misc{leonard2020workforce,
    title = {Autonomous Vehicles, Mobility, and Employment Policy: The Roads Ahead},
    author = {Leonard, John J and Mindell, David A and Stayton, Erik L},
    year = {2020},
    publisher = {MIT Work of the Future},
    eprint = { https://workofthefuture.mit.edu/wp-content/uploads/2020/08/WotF-2020-Research-Brief-Leonard-Mindell-Stayton.pdf}
  }
  

• D. Fourie, N. R. Rypkema, P. V. Teixeira, S. Claassens, E. Fischell, and J. Leonard, “Towards Real-Time Non-Gaussian SLAM for Underdetermined Navigation,” in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 4438–4445.
  E-Print, BibTeX

  @inproceedings{fourie20iros,
    title = {Towards Real-Time Non-Gaussian SLAM for Underdetermined Navigation},
    author = {Fourie, Dehann and Rypkema, Nicholas R and Teixeira, Pedro Vaz and Claassens, Sam and Fischell, Erin and Leonard, John},
    booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages = {4438-4445},
    year = {2020},
    organization = {IEEE},
    eprint = { https://nrr.mit.edu/sites/default/files/documents/iros2020_fourie.pdf}
  }
  

• X. Huang, S. McGill, J. DeCastro, L. Fletcher, J. Leonard, B. Williams, and G. Rosman, “DiversityGAN: Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling,” in IEEE Robotics and Automation Letters, 2020.
  BibTeX

  @inproceedings{huang20ral,
    title = {DiversityGAN: Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling},
    year = {2020},
    author = {Huang, Xin and McGill, Stephen and DeCastro, Jonathan and Fletcher, Luke and Leonard, John and Williams, Brian and Rosman, Guy},
    journal = {IEEE Robotics and Automation Letters},
    publisher = {IEEE}
  }
  

• E. M. Fischell, A. R. Kroo, and B. W. O’Neill, “Single-Hydrophone Low-Cost Underwater Vehicle Swarming,” IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 354–361, 2020.
  DOI, BibTeX

  @article{fischell20ral,
    author = {Fischell, Erin Marie and Kroo, Anne R. and O'Neill, Brendan W.},
    journal = {IEEE Robotics and Automation Letters},
    title = {Single-Hydrophone Low-Cost Underwater Vehicle Swarming},
    year = {2020},
    volume = {5},
    number = {2},
    pages = {354-361},
    doi = {10.1109/LRA.2019.2958774}
  }
  

• J. D. Martin, K. Doherty, C. Cyr, B. Englot, and J. Leonard, “Variational Filtering with Copula Models for SLAM,” in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 5066–5073.
  E-Print, BibTeX

  @inproceedings{martin2020iros,
    title = {Variational Filtering with Copula Models for {SLAM}},
    author = {Martin, John D and Doherty, Kevin and Cyr, Caralyn and Englot, Brendan and Leonard, John},
    booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages = {5066--5073},
    year = {2020},
    organization = {IEEE},
    eprint = {https://arxiv.org/pdf/2008.00504}
  }
  

• K. Doherty, D. Baxter, E. Schneeweiss, and J. Leonard, “Probabilistic Data Association via Mixture Models for Robust Semantic SLAM,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.
  E-Print, BibTeX

  @inproceedings{doherty20icra,
    title = {Probabilistic Data Association via Mixture Models for
                      Robust Semantic {SLAM}},
    author = {Doherty, K. and Baxter, D. and Schneeweiss, E. and Leonard, J.},
    booktitle = {{IEEE} Intl. Conf. on Robotics and Automation ({ICRA})},
    year = {2020},
    organization = {IEEE},
    eprint = {https://arxiv.org/pdf/1909.11213}
  }
  

• A. Papalia and J. Leonard, “Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging,” in IEEE/OES Autonomous Underwater Vehicles Symposium, 2020, pp. 1–6.
  BibTeX

  @inproceedings{papalia2020network,
    title = {Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging},
    author = {Papalia, Alan and Leonard, John},
    booktitle = {IEEE/OES Autonomous Underwater Vehicles Symposium},
    pages = {1--6},
    year = {2020},
    organization = {IEEE}
  }
  

2019

• M. Y. Cheung, D. Fourie, N. R. Rypkema, P. V. Teixeira, H. Schmidt, and J. Leonard, “Non-Gaussian SLAM utilizing Synthetic Aperture Sonar,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2019, pp. 3457–3463.
  E-Print, BibTeX

  @inproceedings{cheung19icra,
    title = {Non-{G}aussian {SLAM} utilizing Synthetic Aperture Sonar},
    author = {Cheung, Mei Yi and Fourie, Dehann and Rypkema, Nicholas Rahardiyan and Teixeira, Pedro Vaz and Schmidt, Henrik and Leonard, John},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    pages = {3457-3463},
    year = {2019},
    organization = {IEEE},
    eprint = {https://marinerobotics.mit.edu/sites/default/files/cheung_icra2019.pdf}
  }
  

• K. Doherty, D. Fourie, and J. Leonard, “Multimodal Semantic SLAM with Probabilistic Data Association,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2019, pp. 2419–2425.
  E-Print, BibTeX

  @inproceedings{doherty19icra,
    title = {Multimodal Semantic {SLAM} with Probabilistic Data
                      Association},
    author = {Doherty, K. and Fourie, D. and Leonard, J.},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    pages = {2419--2425},
    year = {2019},
    organization = {IEEE},
    eprint = {https://marinerobotics.mit.edu/sites/default/files/doherty_icra2019_revised.pdf}
  }
  

• D. Fourie, P. V. Teixeira, and J. J. Leonard, “Non-Parametric Mixed-Manifold Products Using Multiscale Kernel Densities.,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2019, pp. 6656–6662.
  E-Print, BibTeX

  @inproceedings{fourie19iros,
    title = {Non-Parametric Mixed-Manifold Products Using Multiscale
                      Kernel Densities.},
    author = {Fourie, D. and Teixeira, P. Vaz. and Leonard, J. J.},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2019},
    organization = {IEEE},
    pages = {6656-6662},
    eprint = {https://marinerobotics.mit.edu/sites/default/files/fourie_iros19_manifolds.pdf}
  }
  

• X. Huang, S. G. McGill, J. A. DeCastro, B. C. Williams, L. Fletcher, J. J. Leonard, and G. Rosman, “Diversity-aware vehicle motion prediction via latent semantic sampling,” in arXiv preprint arXiv:1911.12736, 2019.
  E-Print, BibTeX

  @inproceedings{huang19motionprediction,
    title = {Diversity-aware vehicle motion prediction via latent semantic sampling},
    year = {2019},
    author = {Huang, Xin and McGill, Stephen G and DeCastro, Jonathan A and Williams, Brian C and Fletcher, Luke and Leonard, John J and Rosman, Guy},
    journal = {arXiv preprint arXiv:1911.12736},
    eprint = {https://arxiv.org/pdf/1911.12736}
  }
  

• S. G. McGill, G. Rosman, T. Ort, A. Pierson, I. Gilitschenski, B. Araki, L. Fletcher, S. Karaman, D. Rus, and J. J. Leonard, “Probabilistic Risk Metrics for Navigating Occluded Intersections,” IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 4322–4329, 2019.
  E-Print, BibTeX

  @article{mcgill19ral,
    title = {Probabilistic Risk Metrics for Navigating Occluded
                   Intersections},
    author = {McGill, Stephen G. and Rosman, Guy and Ort, Teddy and Pierson, Alyssa and Gilitschenski, Igor and Araki, Brandon and Fletcher, Luke and Karaman, Sertac and Rus, Daniela and Leonard, John J.},
    journal = {IEEE Robotics and Automation Letters},
    volume = {4},
    number = {4},
    pages = {4322--4329},
    year = {2019},
    publisher = {IEEE},
    eprint = {http://people.csail.mit.edu/rosman/papers/mcgill2019ral.pdf}
  }
  

• S. Pillai and J. Leonard, “Self-Supervised Visual Place Recognition Learning in Mobile Robots,” in arXiv preprint arXiv:1905.04453, 2019.
  E-Print, BibTeX

  @inproceedings{pillai19arxiv,
    title = {Self-Supervised Visual Place Recognition Learning in Mobile Robots},
    year = {2019},
    author = {Pillai, Sudeep and Leonard, John},
    journal = {arXiv preprint arXiv:1905.04453},
    eprint = {https://arxiv.org/pdf/1905.04453}
  }
  

• D. M. Rosen, L. Carlone, A. S. Bandeira, and J. J. Leonard, “SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group,” The International Journal of Robotics Research, vol. 38, no. 2-3, pp. 95–125, 2019.
  E-Print, BibTeX

  @article{rosen19ijrr,
    title = {SE-Sync: A certifiably correct algorithm for
                   synchronization over the special Euclidean group},
    author = {Rosen, David M. and Carlone, Luca and Bandeira, Afonso S. and Leonard, John J.},
    journal = {The International Journal of Robotics Research},
    volume = {38},
    number = {2-3},
    pages = {95--125},
    year = {2019},
    publisher = {Sage Publications Sage UK: London, England},
    eprint = {https://arxiv.org/pdf/1611.00128}
  }
  

• P. N. V. Teixeira, D. Fourie, M. Kaess, and J. J. Leonard, “Dense, Sonar-Based Reconstruction of Underwater Scenes,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2019, pp. 8060–8066.
  E-Print, BibTeX

  @inproceedings{teixeira19iros,
    title = {Dense, Sonar-Based Reconstruction of Underwater Scenes},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2019},
    author = {Teixeira, Pedro Nuno Vaz and Fourie, Dehann and Kaess, Michael and Leonard, John J},
    pages = {8060-8066},
    eprint = {https://www.cs.cmu.edu/~kaess/pub/Teixeira19iros.pdf}
  }
  

• K. Woerner, M. R. Benjamin, M. Novitzky, and J. J. Leonard, “Quantifying protocol evaluation for autonomous collision avoidance,” Autonomous Robots, vol. 43, no. 4, pp. 967–991, 2019.
  E-Print, BibTeX

  @article{woerner19ar,
    title = {Quantifying protocol evaluation for autonomous collision
                   avoidance},
    author = {Woerner, Kyle and Benjamin, Michael R. and Novitzky, Michael and Leonard, John J.},
    journal = {Autonomous Robots},
    volume = {43},
    number = {4},
    pages = {967--991},
    year = {2019},
    publisher = {Springer},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/116295/springer_submit.pdf?sequence=1&isAllowed=y}
  }
  

2018

• J. Straub, O. Freifeld, G. Rosman, J. J. Leonard, and J. W. F. III, “The Manhattan Frame Model: Manhattan World Inference in the Space of Surface Normals,” IEEE Trans. Pattern Anal. Machine Intell., vol. 40, no. 1, pp. 235–249, Jan. 2018.
  E-Print, BibTeX

  @article{straub18pami,
    author = {Straub, J. and Freifeld, O. and Rosman, G. and Leonard, J. J. and III, J. W. Fisher},
    title = {The {M}anhattan Frame Model: {M}anhattan World Inference
                   in the Space of Surface Normals},
    journal = {{IEEE} Trans. Pattern Anal. Machine Intell.},
    volume = {40},
    number = {1},
    year = {2018},
    month = jan,
    pages = {235-249},
    publisher = {IEEE},
    eprint = {https://ieeexplore.ieee.org/iel7/34/4359286/07839295.pdf}
  }
  

• T. P. Setterfield, D. W. Miller, J. J. Leonard, and A. Saenz-Otero, “Mapping and determining the center of mass of a rotating object using a moving observer,” The International Journal of Robotics Research, vol. 37, no. 1, pp. 83–103, 2018.
  E-Print, BibTeX

  @article{setterfield18ijrr,
    title = {Mapping and determining the center of mass of a rotating
                   object using a moving observer},
    author = {Setterfield, Timoty P. and Miller, David W. and Leonard, John J. and Saenz-Otero, Alvar},
    journal = {The International Journal of Robotics Research},
    volume = {37},
    number = {1},
    pages = {83--103},
    year = {2018},
    publisher = {SAGE Publications Sage UK: London, England},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/113711/Setterfield-IJRR-2018.pdf?sequence=1&isAllowed=y}
  }
  

• L. Paull, M. Seto, S. Saeedi, and J. J. Leonard, “Navigation for Underwater Vehicles,” in Encyclopedia of Robotics, Berlin, Heidelberg: Springer Berlin Heidelberg, 2018, pp. 1–15.
  Web link, DOI, BibTeX

  @inbook{paull18springer,
    author = {Paull, Liam and Seto, Mae and Saeedi, Sajad and Leonard, John J.},
    title = {Navigation for Underwater Vehicles},
    booktitle = {Encyclopedia of Robotics},
    year = {2018},
    publisher = {Springer Berlin Heidelberg},
    address = {Berlin, Heidelberg},
    pages = {1--15},
    isbn = {978-3-642-41610-1},
    doi = {10.1007/978-3-642-41610-1_15-1},
    url = {https://doi.org/10.1007/978-3-642-41610-1_15-1}
  }
  

• L. Paull, M. Seto, J. J. Leonard, and H. Li, “Probabilistic cooperative mobile robot area coverage and its application to autonomous seabed mapping,” in Intl. J. of Robotics Research, 2018, vol. 37, no. 1, pp. 21–45.
  E-Print, BibTeX

  @inproceedings{paull18ijrr,
    title = {Probabilistic cooperative mobile robot area coverage and its application to autonomous seabed mapping},
    year = {2018},
    author = {Paull, Liam and Seto, Mae and Leonard, John J and Li, Howard},
    journal = {Intl. J. of Robotics Research},
    volume = {37},
    number = {1},
    pages = {21-45},
    publisher = {SAGE Publications},
    eprint = {https://dl.acm.org/doi/abs/10.1177/0278364917741969}
  }
  

• T. P. Setterfield, D. W. Miller, A. Saenz-Otero, E. Frazzoli, and J. J. Leonard, “Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis,” in Journal of Guidance, Control, and Dynamics, 2018, vol. 41, no. 10, pp. 2214–2231.
  E-Print, BibTeX

  @inproceedings{setterfield18jgcd,
    title = {Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis},
    year = {2018},
    author = {Setterfield, Timothy P and Miller, David W and Saenz-Otero, Alvar and Frazzoli, Emilio and Leonard, John J},
    journal = {Journal of Guidance, Control, and Dynamics},
    volume = {41},
    number = {10},
    pages = {2214-2231},
    publisher = {American Institute of Aeronautics and Astronautics},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/117602/Inertial%20Properties%20Estimation%20of%20a%20Passive%20On-Orbit%20Object%20Using%20Polhode%20Analysis.pdf?sequence=1&isAllowed=y}
  }
  

• G. Huang, K. Eckenhoff, and J. Leonard, “Optimal-state-constraint EKF for visual-inertial navigation,” 2018, pp. 125–139.
  BibTeX

  @inproceedings{huang18ekf,
    title = {Optimal-state-constraint EKF for visual-inertial navigation},
    year = {2018},
    author = {Huang, Guoquan and Eckenhoff, Kevin and Leonard, John},
    pages = {125-139},
    publisher = {Springer, Cham}
  }
  

• P. V. Teixeira, M. Kaess, F. S. Hover, and J. J. Leonard, “Multibeam Data Processing for Underwater Mapping,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2018, pp. 1877–1884.
  E-Print, BibTeX

  @inproceedings{teixeira18iros,
    author = {Teixeira, P. V. and Kaess, M. and Hover, F. S. and Leonard, J. J.},
    title = {Multibeam Data Processing for Underwater Mapping},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2018},
    pages = {1877-1884},
    publisher = {IEEE},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/multibeam%20data.pdf}
  }
  

2017

• D. Fourie, S. D. Claassens, S. Pillai, R. Mata, and J. J. Leonard, “Centralized graph databases for mobile Robotics,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Singapore, 2017, pp. 6331–6337.
  E-Print, BibTeX

  @inproceedings{fourie17icra,
    author = {Fourie, Dehann and Claassens, Samuel D. and Pillai, Sudeep and Mata, Roxana and Leonard, John J.},
    title = {Centralized graph databases for mobile {R}obotics},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Singapore},
    month = jun,
    year = {2017},
    pages = {6331-6337},
    publisher = {IEEE},
    eprint = {http://people.csail.mit.edu/spillai/data/papers/2017-icra-cloudgraphs.pdf}
  }
  

• F. Naser, D. Dorhout, S. Proulx, S. Pendleton, H. Andersen, W. Schwarting, J. Alonso-Mora, L. Paull, S. Karaman, R. Tedrake, J. Leonard, and D. Rus, “A Parallel Autonomy Research Platform.” IEEE, pp. 933–940, Jun 2017.
  E-Print, BibTeX

  @misc{naser17ieeeiv,
    title = {A Parallel Autonomy Research Platform},
    author = {Naser, F. and Dorhout, D. and Proulx, S. and Pendleton, S. and Andersen, H. and Schwarting, W. and Alonso-Mora, J. and Paull, L. and Karaman, S. and Tedrake, R. and Leonard, J. and Rus, D.},
    note = {In IEEE Intelligent Vehicles Symposium},
    month = jun,
    year = {2017},
    pages = {933-940},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/110322/IV2017_Parallel_Autonomy_Research_Platform.pdf?sequence=1&isAllowed=y}
  }
  

• L. Paull, J. Tani, H. Ahn, J. Alonso-Mora, L. Carlone, M. Cap, Y. F. Chen, C. Choi, J. Dusek, Y. Fang, D. Hoehener, S.-Y. Liu, M. Novitzky, I. F. Okuyama, J. Pazis, G. Rosman, V. Varricchio, H.-C. Wang, D. Yershov, H. Zhao, M. Benjamin, C. Carr, M. Zuber, S. Karaman, E. Frazzoli, D. D. Vecchio, D. Rus, J. How, J. Leonard, and A. Censi, “Duckietown: an Open, Inexpensive and Flexible Platform for Autonomy Education and Research,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2017.
  BibTeX

  @inproceedings{paull17icra,
    title = {Duckietown: an Open, Inexpensive and Flexible Platform for
                   Autonomy Education and Research},
    author = {Paull, Liam and Tani, Jacopo and Ahn, Heejin and Alonso-Mora, Javier and Carlone, Luca and Cap, Michal and Chen, Yu Fan and Choi, Changhyun and Dusek, Jeff and Fang, Yajun and Hoehener, Daniel and Liu, Shih-Yuan and Novitzky, Michael and Okuyama, Igor Franzoni and Pazis, Jason and Rosman, Guy and Varricchio, Valerio and Wang, Hsueh-Cheng and Yershov, Dmitry and Zhao, Hang and Benjamin, Michael and Carr, Christopher and Zuber, Maria and Karaman, Sertac and Frazzoli, Emilio and Vecchio, Domitilla Del and Rus, Daniela and How, Jonathan and Leonard, John and Censi, Andrea},
    month = may,
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = {2017}
  }
  

• B. Mu, L. Paull, A. Agha-mohammadi, J. Leonard, and J. How, “Two-Stage Focused Inference for Resource-Constrained Minimal Collision Navigation,” IEEE Trans. Robotics, vol. 33, no. 1, pp. 124–140, 2017.
  E-Print, BibTeX

  @article{mu17tro,
    author = {Mu, B. and Paull, L. and Agha-mohammadi, A. and Leonard, J. and How, J.},
    title = {Two-Stage Focused Inference for Resource-Constrained
                 Minimal Collision Navigation},
    journal = {{IEEE} Trans. Robotics},
    volume = {33},
    number = {1},
    pages = {124-140},
    year = {2017},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/two-stage%20focused%20inference.pdf}
  }
  

• Y. Latif, G. Huang, J. Leonard, and J. Neira, “Sparse optimization for robust and efficient loop closing,” in Robotics and Autonomous Systems, 2017, vol. 93, pp. 13–26.
  E-Print, BibTeX

  @inproceedings{latif17sparse,
    title = {Sparse optimization for robust and efficient loop closing},
    year = {2017},
    author = {Latif, Yasir and Huang, Guoquan and Leonard, John and Neira, José},
    journal = {Robotics and Autonomous Systems},
    volume = {93},
    pages = {13-26},
    publisher = {North-Holland},
    eprint = {https://arxiv.org/pdf/1701.08921}
  }
  

• L. Paull, J. Tani, H. Ahn, J. Alonso-Mora, L. Carlone, M. Cap, Y. F. Chen, C. Choi, J. Dusek, Y. Fang, D. Hoehener, S.-Y. Liu, M. Novitzky, I. F. Okuyama, J. Pazis, G. Rosman, V. Varricchio, H.-C. Wang, D. Yershov, H. Zhao, M. Benjamin, C. Carr, M. Zuber, S. Karaman, E. Frazzoli, D. D. Vecchio, D. Rus, J. How, J. Leonard, and A. Censi, “Duckietown: an open, inexpensive and flexible platform for autonomy education and research,” 2017, pp. 1497–1504.
  E-Print, BibTeX

  @inproceedings{paull17duckietown,
    title = {Duckietown: an open, inexpensive and flexible platform for autonomy education and research},
    year = {2017},
    author = {Paull, Liam and Tani, Jacopo and Ahn, Heejin and Alonso-Mora, Javier and Carlone, Luca and Cap, Michal and Chen, Yu Fan and Choi, Changhyun and Dusek, Jeff and Fang, Yajun and Hoehener, Daniel and Liu, Shih-Yuan and Novitzky, Michael and Okuyama, Igor Franzoni and Pazis, Jason and Rosman, Guy and Varricchio, Valerio and Wang, Hsueh-Cheng and Yershov, Dmitry and Zhao, Hang and Benjamin, Michael and Carr, Christopher and Zuber, Maria and Karaman, Sertac and Frazzoli, Emilio and Vecchio, Domitilla Del and Rus, Daniela and How, Jonathan and Leonard, John and Censi, Andrea},
    pages = {1497-1504},
    publisher = {IEEE},
    eprint = {https://scholar.nctu.edu.tw/en/publications/duckietown-an-open-inexpensive-and-flexible-platform-for-autonomy}
  }
  

• Y. Latif, G. Huang, J. J. Leonard, and J. A. Neira, “Sparse optimization for robust and efficient loop closing,” Robotics and Autonomous Systems, vol. 93, pp. 13–26, 2017.
  BibTeX

  @article{latif17ras,
    title = {Sparse optimization for robust and efficient loop
                   closing},
    author = {Latif, Y. and Huang, G. and Leonard, J. J. and Neira, J. A.},
    journal = {Robotics and Autonomous Systems},
    pages = {13-26},
    volume = {93},
    year = {2017},
    publisher = {Elsevier}
  }
  

• S. Pillai and J. Leonard, “Towards Visual Ego-motion Learning in Robots,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2017, pp. 5533–5540.
  E-Print, BibTeX

  @inproceedings{pillai17iros,
    author = {Pillai, S. and Leonard, J.},
    title = {Towards Visual Ego-motion Learning in Robots},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2017},
    pages = {5533-5540},
    publisher = {IEEE},
    eprint = {https://arxiv.org/pdf/1705.10279}
  }
  

• S. Pillai and J. Leonard, “Self-Supervised Place Recognition in Mobile Robots,” in IROS 2017 Learning for Localization and Mapping Workshop, 2017.
  BibTeX

  @inproceedings{pillai17irosw,
    author = {Pillai, S. and Leonard, J.},
    title = {Self-Supervised Place Recognition in Mobile Robots},
    booktitle = {{IROS} 2017 Learning for Localization and Mapping
                   Workshop},
    year = {2017}
  }
  

• T. P. Setterfield, D. Miller, A. Saenz-Otero, and J. J. Leonard, “Smoothing-Based Estimation of an Inspector Satellite Trajectory Relative to a Passive Object,” in IEEE Aerospace, 2017, pp. 1–11.
  E-Print, BibTeX

  @inproceedings{setterfield17aerospace,
    author = {Setterfield, T. P. and Miller, D. and Saenz-Otero, A. and Leonard, J. J.},
    title = {Smoothing-Based Estimation of an Inspector Satellite
                   Trajectory Relative to a Passive Object},
    booktitle = {IEEE Aerospace},
    pages = {1--11},
    year = {2017},
    publisher = {IEEE},
    eprint = {https://www.researchgate.net/profile/Tp_Setterfield/publication/317701842_Smoothing-based_estimation_of_an_inspector_satellite_trajectory_relative_to_a_passive_object/links/5c787b0b458515831f781ee4/Smoothing-based-estimation-of-an-inspector-satellite-trajectory-relative-to-a-passive-object.pdf}
  }
  

• J. Straub, R. Cabezas, J. Leonard, and J. W. F. III, “Direction-aware semi-dense SLAM,” in arXiv preprint arXiv:1709.05774, 2017.
  E-Print, BibTeX

  @inproceedings{straub17arxiv,
    title = {Direction-aware semi-dense SLAM},
    year = {2017},
    author = {Straub, Julian and Cabezas, Randi and Leonard, John and III, John W Fisher},
    journal = {arXiv preprint arXiv:1709.05774},
    eprint = {https://arxiv.org/pdf/1709.05774}
  }
  

• K. Woerner, M. Novitzky, M. R. Benjamin, and J. J. Leonard, “Legibility and predictability of protocol-constrained motion: Evaluating human-robot ship interactions under COLREGS collision avoidance requirements,” in Robotics Science and Systems, 2017.
  E-Print, BibTeX

  @inproceedings{woerner17rss,
    title = {Legibility and predictability of protocol-constrained motion: Evaluating human-robot ship interactions under COLREGS collision avoidance requirements},
    year = {2017},
    author = {Woerner, K and Novitzky, Michael and Benjamin, Michael R and Leonard, John J},
    journal = {Robotics Science and Systems},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/colregs2.pdf}
  }
  

2016

• D. Fourie, J. J. Leonard, and M. Kaess, “A Nonparametric Belief Solution to the Bayes Tree,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, Daejeon, Korea, 2016, pp. 2189–2196.
  E-Print, BibTeX

  @inproceedings{fourie16iros,
    author = {Fourie, D. and Leonard, J.J. and Kaess, M.},
    title = {A Nonparametric Belief Solution to the {B}ayes Tree},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems,
                   IROS},
    address = {Daejeon, Korea},
    month = oct,
    year = {2016},
    pages = {2189-2196},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/120482/Fourie16iros.pdf?sequence=1&isAllowed=y}
  }
  

• D. Rosen, J. Mason, and J. J. Leonard, “Towards Lifelong Feature-Based Mapping in Semi-Static Environments,” in International Conference on Robotics and Automation (ICRA), 2016, pp. 1063–1070.
  E-Print, BibTeX

  @inproceedings{rosen16icra,
    author = {Rosen, D. and Mason, J. and Leonard, J. J.},
    title = {Towards Lifelong Feature-Based Mapping in Semi-Static
                   Environments},
    journal = {International Conference on Robotics and Automation
                   (ICRA)},
    year = {2016},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = may,
    pages = {1063-1070},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/107620/Leonard_Towards%20lifelong.pdf?sequence=1&isAllowed=y}
  }
  

• L. Paull and G. H. J. J. Leonard, “A Unified Resource-Constrained Framework for Graph SLAM,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2016, pp. 1346–1353.
  E-Print, BibTeX

  @inproceedings{paull16icra,
    title = {A Unified Resource-Constrained Framework for Graph
                   {SLAM}},
    author = {Paull, L. and Leonard, G. Huang J. J.},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = {2016},
    month = may,
    pages = {1346-1353},
    publisher = {IEEE},
    eprint = {http://people.csail.mit.edu/lpaull/publications/Paull_ICRA_2016.pdf}
  }
  

• B. Mu, S.-Y. Liu, L. Paull, J. Leonard, and J. How, “SLAM with Objects using a Nonparametric Pose Graph,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2016, pp. 4602–4609.
  E-Print, BibTeX

  @inproceedings{mu16iros,
    author = {Mu, B. and Liu, S-Y. and Paull, L. and Leonard, J. and How, J.},
    title = {{SLAM} with Objects using a Nonparametric Pose Graph},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2016},
    pages = {4602-4609},
    publisher = {IEEE},
    eprint = {https://arxiv.org/pdf/1704.05959.pdf?source=post_page---------------------------}
  }
  

• G. Huang, K. Eckenhoff, and J. Leonard, “Optimal-State-Constraint EKF for Visual-Inertial Navigation,” in Proceedings of the Second International Symposium of Robotics Research, 2016.
  BibTeX

  @inproceedings{huang15isrr,
    author = {Huang, Guoquan and Eckenhoff, Kevin and Leonard, John},
    title = {Optimal-State-Constraint EKF for Visual-Inertial
                   Navigation},
    booktitle = {Proceedings of the Second International Symposium of
                   Robotics Research},
    year = {2016}
  }
  

• J. J. Leonard and A. Bahr, “Autonomous Underwater Vehicle Navigation,” in Springer Handbook of Ocean Engineering, M. R. Dhanak and N. I. Xiros, Eds. Springer, 2016, pp. 341–358.
  E-Print, BibTeX

  @incollection{leonard16handbook,
    title = {Autonomous Underwater Vehicle Navigation},
    booktitle = {Springer Handbook of Ocean Engineering},
    author = {Leonard, J. J. and Bahr, A.},
    editor = {Dhanak, M. R. and Xiros, N. I.},
    publisher = {Springer},
    year = {2016},
    pages = {341-358},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.86.1769&rep=rep1&type=pdf}
  }
  

• S. Lowry, N. Sünderhauf, P. Newman, J. J. Leonard, D. Cox, P. Corke, and M. J. Milford, “Visual place recognition: A survey,” in IEEE Trans. Robotics, 2016, vol. 32, no. 1, pp. 1–19.
  E-Print, BibTeX

  @inproceedings{lowry2016tro,
    title = {Visual place recognition: A survey},
    year = {2016},
    author = {Lowry, Stephanie and Sünderhauf, Niko and Newman, Paul and Leonard, John J and Cox, David and Corke, Peter and Milford, Michael J},
    journal = {{IEEE} Trans. Robotics},
    volume = {32},
    number = {1},
    pages = {1-19},
    publisher = {IEEE},
    eprint = {https://eprints.qut.edu.au/105651/1/visual_place_recognition_a_survey_revised_final.pdf}
  }
  

• B. Mu, M. Giamou, L. Paull, A.-akbar Agha-mohammadi, J. J. Leonard, and J. P. How, “Information-based Active SLAM via Topological Feature Graphs,” in 55th IEEE Int. Conference on Decision and Control, 2016, pp. 5583–5590.
  E-Print, BibTeX

  @inproceedings{mu16cdc,
    title = {Information-based Active {SLAM} via Topological Feature
                   Graphs},
    author = {Mu, Beipeng and Giamou, Matthew and Paull, Liam and Agha-mohammadi, Ali-akbar and Leonard, John J. and How, Jonathan P.},
    booktitle = {55th {IEEE} Int. Conference on Decision and Control},
    year = {2016},
    pages = {5583-5590},
    publisher = {IEEE},
    eprint = {https://arxiv.org/pdf/1509.08155}
  }
  

• A. Anderson, E. Fischell, T. Howe, T. Miller, A. Parrales-Salinas, N. Rypkema, D. Barrett, M. Benjamin, A. Brennen, M. DeFillipo, J. J. Leonard, L. Paull, H. Schmidt, N. Wang, and A. Yaari, “An Overview of MIT-Olin’s Approach in the AUVSI RobotX Competition,” 2016, pp. 61–80.
  E-Print, BibTeX

  @inproceedings{anderson16auvsi,
    title = {An Overview of MIT-Olin's Approach in the AUVSI RobotX Competition},
    year = {2016},
    author = {Anderson, Arthur and Fischell, Erin and Howe, Thom and Miller, Tom and Parrales-Salinas, Arturo and Rypkema, Nick and Barrett, David and Benjamin, Michael and Brennen, Alex and DeFillipo, Michael and Leonard, John J and Paull, Liam and Schmidt, Henrik and Wang, Nick and Yaari, Alon},
    pages = {61-80},
    publisher = {Springer, Cham},
    eprint = {https://people.csail.mit.edu/lpaull/publications/Anderson_FSR_2015.pdf}
  }
  

• C. D. C. Lerma, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I. Reid, and J. Leonard, “Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age,” IEEE Trans. Robotics, 2016.
  BibTeX

  @article{cadena16tro,
    author = {Lerma, C. D. Cadena and Carlone, L. and Carrillo, H. and Latif, Y. and Scaramuzza, D. and Neira, J. and Reid, I. and Leonard, J.},
    title = {Past, Present, and Future of Simultaneous Localization And
                 Mapping: Towards the Robust-Perception Age},
    journal = {{IEEE} Trans. Robotics},
    year = {2016}
  }
  

• S. Pillai, S. Ramalingam, and J. J. Leonard, “High-Performance and Tunable Stereo Reconstruction,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2016, pp. 3188–3195.
  E-Print, BibTeX

  @inproceedings{pillai16icra,
    author = {Pillai, S. and Ramalingam, S. and Leonard, J. J.},
    title = {High-Performance and Tunable Stereo Reconstruction},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = {2016},
    pages = {3188-3195},
    publisher = {IEEE},
    eprint = {https://arxiv.org/pdf/1511.00758}
  }
  

• C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I. Reid, and J. J. Leonard, “Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age,” in IEEE Transactions on robotics, 2016, vol. 32, no. 6, pp. 1309–1332.
  E-Print, BibTeX

  @inproceedings{cadena16pastPresent,
    title = {Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age},
    year = {2016},
    author = {Cadena, Cesar and Carlone, Luca and Carrillo, Henry and Latif, Yasir and Scaramuzza, Davide and Neira, José and Reid, Ian and Leonard, John J},
    journal = {IEEE Transactions on robotics},
    volume = {32},
    number = {6},
    pages = {1309-1332},
    publisher = {IEEE},
    eprint = {https://arxiv.org/pdf/1606.05830}
  }
  

• D. M. Rosen, L. Carlone, A. S. Bandeira, and J. J. Leonard, “A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group,” in Intl. Workshop on the Algorithmic Foundations of Robotics, WAFR, 2016.
  BibTeX

  @inproceedings{rosen16wafr,
    author = {Rosen, D. M. and Carlone, L. and Bandeira, A. S. and Leonard, J. J.},
    title = {A Certifiably Correct Algorithm for Synchronization over
                   the Special Euclidean Group},
    booktitle = {Intl. Workshop on the Algorithmic Foundations of Robotics,
                   {WAFR}},
    year = {2016}
  }
  

• C. Stachniss, J. J. Leonard, and S. Thrun, “Simultaneous Localization and Mapping,” in Springer Handbook of Robotics, Second Edition, B. Siciliano and O. Khatib, Eds. Springer, 2016, pp. 1153–1176.
  E-Print, BibTeX

  @incollection{stachniss16handbook,
    title = {Simultaneous Localization and Mapping},
    booktitle = {Springer Handbook of Robotics, Second Edition},
    author = {Stachniss, C. and Leonard, J. J. and Thrun, S.},
    editor = {Siciliano, B. and Khatib, O.},
    publisher = {Springer},
    year = {2016},
    pages = {1153-1176},
    eprint = {http://www1.cs.columbia.edu/~allen/F19/NOTES/slam_paper.pdf}
  }
  

• J. Tani, L. Paull, M. T. Zuber, D. Rus, J. How, J. Leonard, and A. Censi, “Duckietown: an innovative way to teach autonomy,” in International Conference EduRobotics 2016, 2016, pp. 104–121.
  E-Print, BibTeX

  @inproceedings{tani16edu,
    title = {Duckietown: an innovative way to teach autonomy},
    year = {2016},
    author = {Tani, Jacopo and Paull, Liam and Zuber, Maria T and Rus, Daniela and How, Jonathan and Leonard, John and Censi, Andrea},
    booktitle = {International Conference EduRobotics 2016},
    pages = {104-121},
    publisher = {Springer, Cham},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/111059/Rus_Duckietown.pdf?sequence=1&isAllowed=y}
  }
  

• P. V. Teixeira, M. Kaess, F. S. Hover, and J. J. Leonard, “Underwater Inspection using Sonar-based Volumetric Submaps,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2016, pp. 4288–4295.
  E-Print, BibTeX

  @inproceedings{teixeira16iros,
    author = {Teixeira, P. V. and Kaess, M. and Hover, F. S. and Leonard, J. J.},
    title = {Underwater Inspection using Sonar-based Volumetric
                   Submaps},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2016},
    pages = {4288-4295},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/107464/Leonard_Underwater%20inspection.pdf?sequence=1&isAllowed=y}
  }
  

• K. L. Woerner, M. R. Benjamin, M. Novitzky, and J. J. Leonard, “Collision avoidance road test for COLREGS-constrained autonomous vehicles,” in OCEANS 2016 MTS/IEEE Monterey, 2016, pp. 1–6.
  E-Print, BibTeX

  @inproceedings{woerner16oceans,
    title = {Collision avoidance road test for COLREGS-constrained
                      autonomous vehicles},
    author = {Woerner, Kyle L. and Benjamin, Michael R. and Novitzky, Michael and Leonard, John J.},
    booktitle = {OCEANS 2016 MTS/IEEE Monterey},
    pages = {1--6},
    year = {2016},
    organization = {IEEE},
    publisher = {IEEE},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/colregs.pdf}
  }
  

2015

• L. Carlone, D. M. Rosen, G. C. Calafiore, J. J. Leonard, and F. Dellaert, “Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015.
  E-Print, BibTeX

  @inproceedings{carlone15iros,
    author = {Carlone, L. and Rosen, D.M. and Calafiore, G.C. and Leonard, J.J. and Dellaert, F.},
    title = {Lagrangian Duality in {3D} {SLAM}: Verification Techniques
                   and Optimal Solutions},
    year = {2015},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {Hamburg, Germany},
    month = sep,
    eprint = {https://arxiv.org/pdf/1506.00746}
  }
  

• H. Wang, C. Finn, L. Paull, M. Kaess, R. Rosenholtz, S. Teller, and J. Leonard, “Bridging Text Spotting and SLAM with Junction Features,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015.
  E-Print, BibTeX

  @inproceedings{wang15iros,
    author = {Wang, H. and Finn, C. and Paull, L. and Kaess, M. and Rosenholtz, R. and Teller, S. and Leonard, J.},
    title = {Bridging Text Spotting and {SLAM} with Junction Features},
    year = {2015},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {Hamburg, Germany},
    month = sep,
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/107466/Leonard_Bridging%20text.pdf?sequence=1&isAllowed=y}
  }
  

• J. Straub, B. Nishchal, J. Leonard, and J. W. F. III, “Real-Time Manhattan World Rotation Estimation in 3D,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015, pp. 1913–1920.
  E-Print, BibTeX

  @inproceedings{straub15iros,
    author = {Straub, J. and Nishchal, B. and Leonard, J. and {III}, J. W. Fisher},
    title = {Real-Time Manhattan World Rotation Estimation in {3D}},
    year = {2015},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {Hamburg, Germany},
    month = sep,
    pages = {1913-1920},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/107428/Leonard_Real-time%20manhattan.pdf?sequence=1&isAllowed=y}
  }
  

• S. Pillai and J. J. Leonard, “Monocular SLAM Supported Object Recognition,” in Robotics: Science and Systems (RSS), 2015.
  BibTeX

  @inproceedings{pillai15rss,
    author = {Pillai, Sudeep and Leonard, John J.},
    title = {Monocular {SLAM} Supported Object Recognition},
    booktitle = {Robotics: Science and Systems (RSS)},
    location = {Rome, Italy},
    month = jul,
    year = {2015}
  }
  

• B. Mu, A.-akbar Agha-mohammadi, L. Paull, M. Graham, J. How, and J. Leonard, “Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation,” in Proceedings of Robotics: Science and Systems, Rome, Italy, 2015.
  BibTeX

  @inproceedings{mu15rss,
    author = {Mu, Beipeng and Agha-mohammadi, Ali-akbar and Paull, Liam and Graham, Matthew and How, Jonathan and Leonard, John},
    title = {Two-Stage Focused Inference for Resource-Constrained
                   Collision-Free Navigation},
    booktitle = {Proceedings of Robotics: Science and Systems},
    year = {2015},
    address = {Rome, Italy},
    month = jul
  }
  

• R. Finman, L. Paull, and J. J. Leonard, “Toward Object-based Place Recognition in Dense RGB-D Maps,” in ICRA workshop on visual place recognition in changing environments, 2015.
  BibTeX

  @inproceedings{finman15icraws,
    author = {Finman, R. and Paull, L. and Leonard, J. J.},
    title = {Toward Object-based Place Recognition in Dense RGB-D
                   Maps},
    booktitle = {{ICRA} workshop on visual place recognition in changing
                   environments},
    month = jun,
    year = {2015}
  }
  

• T. Steiner, G. Huang, and J. J. Leonard, “Location Utility-based Map Reduction,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2015, pp. 479–486.
  E-Print, BibTeX

  @inproceedings{steiner15icra,
    title = {Location Utility-based Map Reduction},
    year = {2015},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = may,
    author = {Steiner, T. and Huang, G. and Leonard, J. J.},
    pages = {479-486},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/107401/Leonard_Location%20utility.pdf?sequence=1&isAllowed=y}
  }
  

• D. Rosen, C. DuHadway, and J. J. Leonard, “A Convex Relaxation for Approximate Global Optimization in Simultaneous Localization and Mapping,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2015, pp. 5822–5829.
  E-Print, BibTeX

  @inproceedings{rosen15icra,
    author = {Rosen, D. and DuHadway, C. and Leonard, J. J.},
    title = {A Convex Relaxation for Approximate Global Optimization in
                   Simultaneous Localization and Mapping},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = {2015},
    month = may,
    pages = {5822-5829},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/107496/Leonard_A%20convex.pdf?sequence=1&isAllowed=y}
  }
  

• L. Paull, G. Huang, M. Seto, and J. J. Leonard, “Communication-Constrained Multi-AUV Cooperative SLAM,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2015.
  BibTeX

  @inproceedings{paull15icra,
    title = {Communication-Constrained Multi-{AUV} Cooperative {SLAM}},
    author = {Paull, L and Huang, G and Seto, M and Leonard, J J},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = {2015},
    month = may
  }
  

• S. Pillai and J. Leonard, “Monocular slam supported object recognition,” in arXiv preprint arXiv:1506.01732, 2015.
  E-Print, BibTeX

  @inproceedings{pillai15monocular,
    title = {Monocular slam supported object recognition},
    year = {2015},
    author = {Pillai, Sudeep and Leonard, John},
    journal = {arXiv preprint arXiv:1506.01732},
    eprint = {https://arxiv.org/pdf/1506.01732}
  }
  

• D. Nams, M. L. Seto, and J. J. Leonard, “On-line adaptation of underwater acoustic transmission rates to optimize communications for collaborative AUV missions,” 2015, pp. 1–8.
  BibTeX

  @inproceedings{nams15transmission,
    title = {On-line adaptation of underwater acoustic transmission rates to optimize communications for collaborative AUV missions},
    year = {2015},
    author = {Nams, Dainis and Seto, Mae L and Leonard, John J},
    pages = {1-8},
    publisher = {IEEE}
  }
  

• L. Paull, G. Huang, M. Seto, and J. J. Leonard, “Communication-constrained multi-AUV cooperative SLAM,” 2015, pp. 509–516.
  E-Print, BibTeX

  @inproceedings{paull15cooperative,
    title = {Communication-constrained multi-AUV cooperative SLAM},
    year = {2015},
    author = {Paull, Liam and Huang, Guoquan and Seto, Mae and Leonard, John J},
    pages = {509-516},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/107495/Leonard_Communication-constrained.pdf?sequence=1&isAllowed=y}
  }
  

• B. Mu, A.-akbar Agha-mohammadi, L. Paull, M. Graham, J. How, and J. Leonard, “Two-stage focused inference for resource-constrained collision-free navigation,” 2015.
  E-Print, BibTeX

  @inproceedings{mu15focused,
    title = {Two-stage focused inference for resource-constrained collision-free navigation},
    year = {2015},
    author = {Mu, Beipeng and Agha-mohammadi, Ali-akbar and Paull, Liam and Graham, Mathew and How, Jonathan and Leonard, John},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/97917/Leonard_Two-stage%20focused.pdf?sequence=1&isAllowed=y}
  }
  

• G. Huang, M. Kaess, and J. J. Leonard, “Consistent unscented incremental smoothing for multi-robot cooperative target tracking,” in Robotics and autonomous systems, 2015, vol. 69, pp. 52–67.
  E-Print, BibTeX

  @inproceedings{huang15unscented,
    title = {Consistent unscented incremental smoothing for multi-robot cooperative target tracking},
    year = {2015},
    author = {Huang, Guoquan and Kaess, Michael and Leonard, John J},
    journal = {Robotics and autonomous systems},
    volume = {69},
    pages = {52-67},
    publisher = {North-Holland},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/111182/Leonard_Consistent%20unscented.pdf?sequence=1&isAllowed=y}
  }
  

• M. Salvato, R. Finman, and J. Leonard, “Multi-Volume High Resolution RGB-D Mapping with Dynamic Volume Placement,” in arXiv preprint arXiv:1511.07106, 2015.
  E-Print, BibTeX

  @inproceedings{salvato15volume,
    title = {Multi-Volume High Resolution RGB-D Mapping with Dynamic Volume Placement},
    year = {2015},
    author = {Salvato, Michael and Finman, Ross and Leonard, John},
    journal = {arXiv preprint arXiv:1511.07106},
    eprint = {https://arxiv.org/pdf/1511.07106}
  }
  

• G. Huang, M. Kaess, and J. J. Leonard, “Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking,” Robotics and Autonomous Systems, vol. 69, pp. 52–67, 2015.
  BibTeX

  @article{huang15ras,
    title = {Consistent Unscented Incremental Smoothing for Multi-robot
                   Cooperative Target Tracking},
    author = {Huang, G. and Kaess, M. and Leonard, J. J.},
    journal = {Robotics and Autonomous Systems},
    pages = {52-67},
    volume = {69},
    year = {2015},
    publisher = {Elsevier}
  }
  

• R. Finman, L. Paull, and J. J. Leonard, “Toward object-based place recognition in dense rgb-d maps,” in ICRA Workshop Visual Place Recognition in Changing Environments, Seattle, WA, 2015, vol. 76.
  E-Print, BibTeX

  @inproceedings{finman15placeRecognition,
    title = {Toward object-based place recognition in dense rgb-d maps},
    year = {2015},
    author = {Finman, Ross and Paull, Liam and Leonard, John J},
    journal = {ICRA Workshop Visual Place Recognition in Changing Environments, Seattle, WA},
    volume = {76},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/icra2015.pdf}
  }
  

• B. E. Tweddle, A. Saenz‐Otero, J. J. Leonard, and D. W. Miller, “Factor Graph Modeling of Rigid‐body Dynamics for Localization, Mapping, and Parameter Estimation of a Spinning Object in Space,” in Journal of Field Robotics, 2015, vol. 32, no. 6, pp. 897–933.
  BibTeX

  @inproceedings{tweddle15ijfr,
    title = {Factor Graph Modeling of Rigid‐body Dynamics for Localization, Mapping, and Parameter Estimation of a Spinning Object in Space},
    year = {2015},
    author = {Tweddle, Brent E and Saenz‐Otero, Alvar and Leonard, John J and Miller, David W},
    journal = {Journal of Field Robotics},
    volume = {32},
    number = {6},
    pages = {897-933}
  }
  

• M. VanMiddlesworth, M. Kaess, F. Hover, and J. J. Leonard, “Mapping 3D underwater environments with smoothed submaps,” 2015, pp. 17–30.
  E-Print, BibTeX

  @inproceedings{vanMiddlesworth15submaps,
    title = {Mapping 3D underwater environments with smoothed submaps},
    year = {2015},
    author = {VanMiddlesworth, Mark and Kaess, Michael and Hover, Franz and Leonard, John J},
    pages = {17-30},
    publisher = {Springer, Cham},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/119864/VanMiddlesworth13fsr.pdf?sequence=1&isAllowed=y}
  }
  

• P. Corcoran, T. J. Steiner, M. Bertolotto, and J. J. Leonard, “Appearance-based SLAM in a Network Space,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2015, pp. 5791–5798.
  E-Print, BibTeX

  @inproceedings{corcoran15icra,
    author = {Corcoran, P. and Steiner, T.J. and Bertolotto, M. and Leonard, J.J.},
    title = {Appearance-based SLAM in a Network Space},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    pages = {5791-5798},
    year = {2015},
    eprint = {http://orca.cf.ac.uk/89574/1/Corcoran_ICRA_2015.pdf}
  }
  

• T. Whelan, M. Kaess, H. Johannsson, M. Fallon, J. J. Leonard, and J. McDonald, “Real-time large scale dense RGB-D SLAM with volumetric fusion,” Intl. J. of Robotics Research, vol. 34, no. 4-5, pp. 598–626, 2015.
  E-Print, BibTeX

  @article{whelan15ijrr,
    title = {Real-time large scale dense {RGB-D} {SLAM} with volumetric
                   fusion},
    author = {Whelan, T. and Kaess, M. and Johannsson, H. and Fallon, M. and Leonard, J. J. and McDonald, J.},
    journal = {Intl. J. of Robotics Research},
    volume = {34},
    number = {4-5},
    pages = {598-626},
    year = {2015},
    publisher = {Sage Publications},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/97583/Leonard_Real-time.pdf%3Bjsessionid%3D8C351776D7D5E5C614AF641625837212?sequence%3D1}
  }
  

• K.-T. Yu, J. Leonard, and A. Rodriguez, “Shape and pose recovery from planar pushing,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2015, pp. 1208–1215.
  E-Print, BibTeX

  @inproceedings{yu15planarPushing,
    title = {Shape and pose recovery from planar pushing},
    year = {2015},
    author = {Yu, Kuan-Ting and Leonard, John and Rodriguez, Alberto},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    pages = {1208-1215},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/100413/py-iros15-final.pdf?sequence=1&isAllowed=y}
  }
  

2014

• D. M. Rosen, M. Kaess, and J. J. Leonard, “RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation,” IEEE Trans. Robotics, vol. 30, no. 5, pp. 1091–1108, Oct. 2014.
  E-Print, DOI, BibTeX

  @article{rosen14tro,
    author = {Rosen, D.M. and Kaess, M. and Leonard, J.J.},
    fullauthor = {David M. Rosen and Michael Kaess and John J. Leonard},
    title = {{RISE}: An Incremental Trust-Region Method for Robust
                    Online Sparse Least-Squares Estimation},
    journal = {{IEEE} Trans. Robotics},
    volume = {30},
    number = {5},
    pages = {1091-1108},
    month = oct,
    year = {2014},
    doi = {10.1109/TRO.2014.2321852},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/97576/Leonard_RISE.pdf?sequence=1&isAllowed=y}
  }
  

• Y. Latif, G. Huang, J. Leonard, and J. Neira, “An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation,” in Robotics: Science and Systems (RSS), Berkeley, CA, 2014.
  E-Print, BibTeX

  @inproceedings{latif14rss,
    author = {Latif, Yasir and Huang, Guaquan and Leonard, John and Neira, Jose},
    title = {An Online Sparsity-Cognizant Loop-Closure Algorithm for
                   Visual Navigation},
    booktitle = {Robotics: Science and Systems (RSS)},
    year = {2014},
    address = {Berkeley, CA},
    month = jul,
    eprint = {http://ylatif.github.io/papers/LatifRSS14.pdf}
  }
  

• G. Huang, M. Kaess, and J. J. Leonard, “Towards consistent visual-inertial navigation,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2014, pp. 4926–4933.
  E-Print, BibTeX

  @inproceedings{huang14icra,
    title = {Towards consistent visual-inertial navigation},
    year = {2014},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = jun,
    author = {Huang, Guoquan and Kaess, Michael and Leonard, John J},
    pages = {4926-4933},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/107411/Leonard_Towards%20consistent.pdf?sequence=1&isAllowed=y}
  }
  

• R. Finman, T. Whelan, L. Paull, and J. J. Leonard, “Physical Words for Place Recognition in Dense RGB-D Maps,” in ICRA workshop on visual place recognition in changing environments, 2014.
  E-Print, BibTeX

  @inproceedings{finman14icraws,
    author = {Finman, R. and Whelan, T. and Paull, L. and Leonard, J. J.},
    title = {Physical Words for Place Recognition in Dense {RGB-D}
                   Maps},
    booktitle = {{ICRA} workshop on visual place recognition in changing
                   environments},
    month = jun,
    year = {2014},
    eprint = {http://people.csail.mit.edu/lpaull/publications/Finman_ICRAW_2014.pdf}
  }
  

• J. Straub, G. Rosman, O. Freifed, J. J. Leonard, and J. W. Fisher, “A Mixture of Manhattan Frames: Beyond the Manhattan World,” in Computer Vision and Pattern Recognition (CVPR), 2014 IEEE Conference on, Portland, OR, 2014, pp. 3770–3777.
  E-Print, BibTeX

  @inproceedings{straub14cvpr,
    author = {Straub, J. and Rosman, G. and Freifed, O. and Leonard, J. J. and Fisher, J. W.},
    booktitle = {Computer Vision and Pattern Recognition (CVPR), 2014 IEEE
                   Conference on},
    title = {A Mixture of Manhattan Frames: Beyond the Manhattan
                   World},
    year = {2014},
    address = {Portland, {OR}},
    month = jun,
    pages = {3770-3777},
    eprint = {https://www.cv-foundation.org/openaccess/content_cvpr_2014/papers/Straub_A_Mixture_of_2014_CVPR_paper.pdf}
  }
  

• R. Finman, T. Whelan, M. Kaess, and J. J. Leonard, “Efficient Incremental Map Segmentation in Dense RGB-D Maps,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2014, pp. 5488–5494.
  E-Print, BibTeX

  @inproceedings{finman14icra,
    author = {Finman, R. and Whelan, T. and Kaess, M. and Leonard, J. J.},
    title = {Efficient Incremental Map Segmentation in Dense {RGB-D}
                   Maps},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = jun,
    year = {2014},
    pages = {5488-5494},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/97582/Leonard_Efficient%20incremental.pdf?sequence=1&isAllowed=y}
  }
  

• D. M. Rosen, G. Huang, and J. J. Leonard, “Inference over heterogeneous finite-/infinite-dimensional systems using factor graphs and Gaussian processes,” 2014, pp. 1261–1268.
  E-Print, BibTeX

  @inproceedings{rosen14icra,
    title = {Inference over heterogeneous finite-/infinite-dimensional systems using factor graphs and Gaussian processes},
    year = {2014},
    author = {Rosen, David M and Huang, Guoquan and Leonard, John J},
    pages = {1261-1268},
    publisher = {IEEE},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/Inference%20Over%20Heterogeneous%20Finite-Infinite-Dimensional%20Systems%20Using%20Factor%20Graphs%20and%20Gaussian%20Processes.pdf}
  }
  

• L. Paull, M. Seto, and J. J. Leonard, “Decentralized Cooperative Trajectory Estimation for Autonomous Underwater Vehicles,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2014, pp. 184–191.
  E-Print, BibTeX

  @inproceedings{paull14iros,
    author = {Paull, Liam and Seto, Mae and Leonard, John J},
    title = {Decentralized Cooperative Trajectory Estimation for
                   Autonomous Underwater Vehicles},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2014},
    pages = {184-191},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/97580/Leonard_Decentralized%20cooperative.pdf?sequence=1&isAllowed=y}
  }
  

• J. C. Leedekerken, M. F. Fallon, and J. J. Leonard, “Mapping complex marine environments with autonomous surface craft,” 2014, pp. 525–539.
  E-Print, BibTeX

  @inproceedings{leederkerken14iser,
    title = {Mapping complex marine environments with autonomous surface craft},
    year = {2014},
    author = {Leedekerken, Jacques C and Fallon, Maurice F and Leonard, John J},
    pages = {525-539},
    publisher = {Springer, Berlin, Heidelberg},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/78933/Leonard_Mapping%20complex.pdf?sequence=1&isAllowed=y}
  }
  

• J. W. Kaeli, J. J. Leonard, and H. Singh, “Visual summaries for low-bandwidth semantic mapping with autonomous underwater vehicles,” 2014, pp. 1–7.
  E-Print, BibTeX

  @inproceedings{kaeli14auv,
    title = {Visual summaries for low-bandwidth semantic mapping with autonomous underwater vehicles},
    year = {2014},
    author = {Kaeli, Jeffrey W and Leonard, John J and Singh, Hanumant},
    pages = {1-7},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/97584/Leonard_Visual%20summaries.pdf?sequence=1&isAllowed=y}
  }
  

• P. Corcoran, M. Bertolotto, and J. Leonard, “Cognitively adequate topological robot localization and mapping,” 2014, pp. 17–24.
  BibTeX

  @inproceedings{corcoran14isa,
    title = {Cognitively adequate topological robot localization and mapping},
    year = {2014},
    author = {Corcoran, Padraig and Bertolotto, Michela and Leonard, John},
    pages = {17-24}
  }
  

• B. Tweddle, T. P. Setterfield, A. Saenz-Otero, D. W. Miller, and J. Leonard., “Experimental Evaluation of On-board, Visual Mapping of an Object Spinning in Micro-Gravity aboard the International Space Station,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2014, pp. 2333–2340.
  BibTeX

  @inproceedings{tweddle14iros,
    author = {Tweddle, B. and Setterfield, T. P. and Saenz-Otero, A. and Miller, D. W. and Leonard., J.},
    title = {Experimental Evaluation of On-board, Visual Mapping of an
                   Object Spinning in Micro-Gravity aboard the International
                   Space Station},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2014},
    pages = {2333-2340},
    publisher = {IEEE}
  }
  

• B. Tweddle, A. Saenz-Otero, D. W. Miller, and J. Leonard., “Factor Graph Modeling of Rigid-Body Dynamics for Localization, Mapping and Parameter Estimation of a Spinning Object in Space,” J. of Field Robotics, vol. 32, no. 6, pp. 897–933, 2014.
  BibTeX

  @article{tweddle14jfr,
    author = {Tweddle, B. and Saenz-Otero, A. and Miller, D. W. and Leonard., J.},
    title = {Factor Graph Modeling of Rigid-Body Dynamics for
                 Localization, Mapping and Parameter Estimation of a
                 Spinning Object in Space},
    volume = {32},
    number = {6},
    pages = {897-933},
    journal = {J. of Field Robotics},
    year = {2014}
  }
  

• H. Wei, W. Lu, P. Zhu, G. Huang, J. Leonard, and S. Ferrari, “Visibility-based motion planning for active target tracking and localization,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, pp. 76–82.
  E-Print, BibTeX

  @inproceedings{wei14iros,
    title = {Visibility-based motion planning for active target tracking and localization},
    year = {2014},
    author = {Wei, H and Lu, W and Zhu, P and Huang, G and Leonard, J and Ferrari, S},
    journal = {Proceedings of the IEEE/RSJ International Conference on Intelligent
                   Robots and Systems},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    pages = {76-82},
    eprint = {https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6942543}
  }
  

• T. Whelan, M. Kaess, R. Finman, M. Fallon, H. Johannsson, J. J. Leonard, and J. McDonald, “3D mapping, localisation and object retrieval using low cost robotic platforms: A robotic search engine for the real-world,” RSS Workshop, 2014.
  E-Print, BibTeX

  @article{whelan14rssw,
    title = {{3D} mapping, localisation and object retrieval using low
                 cost robotic platforms: A robotic search engine for the
                 real-world},
    author = {Whelan, Thomas and Kaess, Michael and Finman, Ross and Fallon, Maurice and Johannsson, Hordur and Leonard, John J and McDonald, John},
    journal = {RSS Workshop},
    year = {2014},
    eprint = {http://mural.maynoothuniversity.ie/8310/1/JM-3D-Mapping-2014.pdf}
  }
  

• S. Williams, V. Indelman, M. Kaess, J. J. L. R. Roberts, and F. Dellaert, “Concurrent filtering and smoothing: A parallel architecture for real-time navigation and full smoothing,” Intl. J. of Robotics Research, vol. 33, no. 12, pp. 1544–1568, 2014.
  E-Print, BibTeX

  @article{williams14ijrr,
    title = {Concurrent filtering and smoothing: A parallel architecture for real-time navigation and full smoothing},
    author = {Williams, S. and Indelman, V. and Kaess, M. and R. Roberts, J.J. Leonard and Dellaert, F.},
    journal = {Intl. J. of Robotics Research},
    volume = {33},
    number = {12},
    pages = {1544-1568},
    year = {2014},
    publisher = {SAGE Publications},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/97575/Leonard_Concurrent%20filtering.pdf%3Bjsessionid%3DD4441662C9998231C2F4D52D9887BA72?sequence%3D1}
  }
  

2013

• M. VanMiddlesworth, M. Kaess, F. S. Hover, and J. J. Leonard, “Mapping 3D Underwater Environments with Smoothed Submaps,” in Field and Service Robotics, Brisbane, Australia, 2013.
  BibTeX

  @inproceedings{vanmiddlesworth13fsr,
    author = {VanMiddlesworth, M. and Kaess, M. and Hover, F.S. and Leonard, J.J.},
    fullauthor = {Mark VanMiddlesworth and Michael Kaess and Franz S. Hover
                    and John J. Leonard},
    title = {Mapping {3D} Underwater Environments with Smoothed
                    Submaps},
    booktitle = {Field and Service Robotics},
    address = {Brisbane, Australia},
    month = dec,
    year = {2013}
  }
  

• T. Whelan, M. Kaess, J. J. Leonard, and J. B. McDonald, “Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013, pp. 548–555.
  E-Print, BibTeX

  @inproceedings{whelan13iros,
    author = {Whelan, T. and Kaess, M. and Leonard, J.J. and McDonald, J.B.},
    fullauthor = {Thomas Whelan and Michael Kaess and John J. Leonard and
                    John B. McDonald},
    title = {Deformation-based Loop Closure for Large Scale Dense
                    {RGB-D SLAM}},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {Tokyo, Japan},
    month = nov,
    year = {2013},
    pages = {548-555},
    publisher = {IEEE},
    eprint = {http://mural.maynoothuniversity.ie/6496/1/JM-Loop-Closure.pdf}
  }
  

• J. McDonald, M. Kaess, C. Cadena, J. Neira, and J. J. Leonard, “Real-time 6-DOF Multi-session Visual SLAM over Large Scale Environments,” J. of Robotics and Autonomous Systems, vol. 61, no. 10, pp. 1144–1158, Oct. 2013.
  E-Print, BibTeX

  @article{mcdonald13ras,
    author = {McDonald, J. and Kaess, M. and Cadena, C. and Neira, J. and Leonard, J.J.},
    fullauthor = {John McDonald and Michael Kaess and Cesar Cadena and
                    Jos\'{e} Neira and John J. Leonard},
    title = {Real-time 6-{DOF} Multi-session Visual {SLAM} over Large
                    Scale Environments},
    journal = {J. of Robotics and Autonomous Systems},
    volume = {61},
    number = {10},
    pages = {1144-1158},
    month = oct,
    year = {2013},
    eprint = {http://eprints.maynoothuniversity.ie/6499/1/JM-Real-time-6-DOF.pdf}
  }
  

• G. Huang, R. Truax, M. Kaess, and J. J. Leonard, “Unscented iSAM: A Consistent Incremental Solution to Cooperative Localization and Target Tracking,” in Proc. of European Conference on Mobile Robots (ECMR), Barcelona, Spain, 2013, pp. 248–254.
  E-Print, BibTeX

  @inproceedings{huang13ecmra,
    author = {Huang, G. and Truax, R. and Kaess, M. and Leonard, J.J.},
    title = {Unscented {iSAM}: A Consistent Incremental Solution to
                   Cooperative Localization and Target Tracking},
    booktitle = {Proc. of European Conference on Mobile Robots (ECMR)},
    year = {2013},
    address = {Barcelona, Spain},
    month = sep,
    pages = {248--254},
    owner = {paul},
    eprint = {http://ri.cmu.edu/pub_files/2013/9/Huang13ecmr.pdf},
    timestamp = {2013.08.29}
  }
  

• G. Huang, M. Kaess, and J. J. Leonard, “Consistent Sparsification for Graph Optimization,” in Proc. of European Conference on Mobile Robots (ECMR), Barcelona, Spain, 2013, pp. 150–157.
  E-Print, BibTeX

  @inproceedings{huang13ecmrb,
    author = {Huang, G. and Kaess, M. and Leonard, J.J.},
    title = {Consistent Sparsification for Graph Optimization},
    booktitle = {Proc. of European Conference on Mobile Robots (ECMR)},
    year = {2013},
    address = {Barcelona, Spain},
    eprint = {https://people.csail.mit.edu/kaess/pub/Huang13ecmr2.pdf},
    month = sep,
    timestamp = {2013.08.29},
    pages = {150--157}
  }
  

• R. Finman, T. Whelan, M. Kaess, and J. Leonard, “Toward Lifelong Object Segmentation from Change Detection in Dense RGB-D Maps,” in European Conference on Mobile Robotics, Barcelona, Spain, 2013.
  E-Print, BibTeX

  @inproceedings{finman13ecmr,
    author = {Finman, R. and Whelan, T. and Kaess, M. and Leonard, J.},
    title = {Toward Lifelong Object Segmentation from Change Detection
                   in Dense {RGB-D} Maps},
    booktitle = {European Conference on Mobile Robotics},
    address = {Barcelona, Spain},
    month = sep,
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.640.6828&rep=rep1&type=pdf},
    year = {2013}
  }
  

• D. M. Rosen, M. Kaess, and J. J. Leonard, “Robust Incremental Online Inference Over Sparse Factor Graphs: Beyond the Gaussian Case,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013, pp. 1025–1032.
  E-Print, BibTeX

  @inproceedings{rosen13icra,
    author = {Rosen, D.M. and Kaess, M. and Leonard, J.J.},
    fullauthor = {David M. Rosen and Michael Kaess and John J. Leonard},
    title = {Robust Incremental Online Inference Over Sparse Factor
                    Graphs: Beyond the {G}aussian Case},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Karlsruhe, Germany},
    month = may,
    year = {2013},
    pages = {1025-1032},
    publisher = {IEEE},
    eprint = {http://www.ri.cmu.edu/pub_files/2013/5/Rosen13icra.pdf}
  }
  

• T. Whelan, H. Johannsson, M. Kaess, J. J. Leonard, and J. B. McDonald, “Robust Real-Time Visual Odometry for Dense RGB-D Mapping,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013, pp. 5724–5731.
  E-Print, BibTeX

  @inproceedings{whelan13icra,
    author = {Whelan, T. and Johannsson, H. and Kaess, M. and Leonard, J.J. and McDonald, J.B.},
    fullauthor = {Thomas Whelan and Hordur Johannsson and Michael Kaess and
                    John J. Leonard and John B. McDonald},
    title = {Robust Real-Time Visual Odometry for Dense {RGB-D}
                    Mapping},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Karlsruhe, Germany},
    month = may,
    year = {2013},
    pages = {5724-5731},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/97552/Leonard_Robust%20real-time.pdf?sequence=1&isAllowed=y}
  }
  

• H. Johannsson, M. Kaess, M. F. Fallon, and J. J. Leonard, “Temporally Scalable Visual SLAM using a Reduced Pose Graph,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013, pp. 54–61.
  E-Print, BibTeX

  @inproceedings{johannsson13icra,
    author = {Johannsson, H. and Kaess, M. and Fallon, M.F. and Leonard, J.J.},
    fullauthor = {Hordur Johannsson and Michael Kaess and Maurice F. Fallon
                    and John J. Leonard},
    title = {Temporally Scalable Visual {SLAM} using a Reduced Pose
                    Graph},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Karlsruhe, Germany},
    month = may,
    year = {2013},
    pages = {54-61},
    publisher = {IEEE},
    eprint = {https://apps.dtic.mil/dtic/tr/fulltext/u2/a576491.pdf}
  }
  

• G. Huang, M. Kaess, J. Leonard, and S. Roumeliotis, “Analytically-Selected Multi- Hypothesis Incremental MAP Estimation,” in International Conference on Acoustics, Speech, and Signal Processing, British Columbia, Canada, 2013, pp. 6481–6485.
  E-Print, BibTeX

  @inproceedings{huang13icassp,
    title = {Analytically-Selected Multi- Hypothesis Incremental {MAP}
                   Estimation},
    author = {Huang, G and Kaess, M and Leonard, J and Roumeliotis, S},
    booktitle = {International Conference on Acoustics, Speech, and Signal
                   Processing},
    address = {British Columbia, Canada},
    month = may,
    year = {2013},
    pages = {6481-6485},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/97573/Leonard_Analytically-selected.pdf?sequence=1&isAllowed=y}
  }
  

• M. F. Fallon, H. Johannsson, M. Kaess, J. Folkesson, H. McClelland, B. J. Englot, F. S. Hover, and J. J. Leonard, “Simultaneous localization and mapping in marine environments,” 2013, pp. 329–372.
  E-Print, BibTeX

  @inproceedings{fallon13mra,
    title = {Simultaneous localization and mapping in marine environments},
    year = {2013},
    author = {Fallon, Maurice F and Johannsson, Hordur and Kaess, Michael and Folkesson, John and McClelland, Hunter and Englot, Brendan J and Hover, Franz S and Leonard, John J},
    pages = {329-372},
    publisher = {Springer, New York, NY},
    eprint = {https://www.diva-portal.org/smash/get/diva2:789903/FULLTEXT01.pdf}
  }
  

• M. Fallon, H. Johannsson, M. Kaess, and J. J. Leonard, “The MIT Stata Center Dataset,” in Intl. J. of Robotics Research, 2013, vol. 32, no. 14, pp. 1695–1699.
  E-Print, BibTeX

  @inproceedings{fallon13ijrr,
    title = {The {MIT} {S}tata {C}enter Dataset},
    year = {2013},
    author = {Fallon, Maurice and Johannsson, Hordur and Kaess, Michael and Leonard, John J},
    journal = {Intl. J. of Robotics Research},
    volume = {32},
    number = {14},
    pages = {1695-1699},
    publisher = {SAGE Publications},
    eprint = {https://journals.sagepub.com/doi/pdf/10.1177/0278364913509035}
  }
  

• D. M. Rosen and J. J. Leonard, “Nonparametric density estimation for learning noise distributions in mobile robotics,” in 1st Workshop on Robust and Multimodal Inference in Factor Graphs, ICRA, 2013.
  E-Print, BibTeX

  @inproceedings{rosen13icraw,
    title = {Nonparametric density estimation for learning noise distributions in mobile robotics},
    year = {2013},
    author = {Rosen, David M and Leonard, John J},
    journal = {1st Workshop on Robust and Multimodal Inference in Factor Graphs, ICRA},
    eprint = {https://www.tu-chemnitz.de/etit/proaut/ICRAWorkshopFactorGraphs/ICRA_Workshop_on_Robust_and_Multimodal_Inference_in_Factor_Graphs/Program_files/6%20-%20Density%20Estimation.pdf}
  }
  

• M. F. Fallon, J. Folkesson, H. McClelland, and J. J. Leonard, “Relocating Underwater Features Autonomously Using Sonar-Based SLAM,” in IEEE Journal of Oceanic Engineering, 2013, vol. 38, no. 3, pp. 500–513.
  E-Print, BibTeX

  @inproceedings{fallon13ijoe,
    title = {Relocating Underwater Features Autonomously Using
                   Sonar-Based {SLAM}},
    year = {2013},
    author = {Fallon, Maurice F and Folkesson, John and McClelland, Hunter and Leonard, John J},
    journal = {IEEE Journal of Oceanic Engineering},
    volume = {38},
    number = {3},
    pages = {500-513},
    publisher = {IEEE},
    eprint = {https://www.diva-portal.org/smash/get/diva2:642654/FULLTEXT01.pdf}
  }
  

• M. F. Fallon, H. Johannsson, M. Kaess, J. Folkesson, H. McClelland, B. J. Englot, F. S. Hover, and J. J. Leonard, “Simultaneous Localization and Mapping in Marine Environments,” in Marine Robot Autonomy, M. Seto, Ed. Springer, 2013.
  BibTeX

  @incollection{fallon13bookchapter,
    title = {Simultaneous Localization and Mapping in Marine
                   Environments},
    booktitle = {Marine Robot Autonomy},
    author = {Fallon, M. F. and Johannsson, H. and Kaess, M. and Folkesson, J. and McClelland, H. and Englot, B. J. and Hover, F. S. and Leonard, J. J.},
    editor = {Seto, M.},
    publisher = {Springer},
    year = {2013}
  }
  

• M. R. Benjamin, H. Schmidt, P. M. Newman, and J. J. Leonard, “Autonomy for unmanned marine vehicles with MOOS-IvP,” 2013, pp. 47–90.
  BibTeX

  @inproceedings{benjamin13ijfr,
    title = {Autonomy for unmanned marine vehicles with MOOS-IvP},
    year = {2013},
    author = {Benjamin, Michael R and Schmidt, Henrik and Newman, Paul M and Leonard, John J},
    pages = {47-90},
    publisher = {Springer, New York, NY}
  }
  

2012

• F. S. Hover, R. M. Eustice, A. Kim, B. J. Englot, H. Johannsson, M. Kaess, and J. J. Leonard, “Advanced Perception, Navigation and Planning for Autonomous In-Water Ship Hull Inspection,” Intl. J. of Robotics Research, vol. 31, no. 12, pp. 1445–1464, Oct. 2012.
  E-Print, BibTeX

  @article{hover12ijrr,
    author = {Hover, F.S. and Eustice, R.M. and Kim, A. and Englot, B.J. and Johannsson, H. and Kaess, M. and Leonard, J.J.},
    fullauthor = {Franz S. Hover and Ryan M. Eustice and Ayoung Kim and
                    Brendan J. Englot and Hordur Johannsson and Michael Kaess
                    and John J. Leonard},
    title = {Advanced Perception, Navigation and Planning for
                    Autonomous In-Water Ship Hull Inspection},
    journal = {Intl. J. of Robotics Research},
    volume = {31},
    number = {12},
    pages = {1445-1464},
    month = oct,
    year = {2012},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/78589/Hover_Advanced%20perception.pdf;sequence}
  }
  

• A. Walcott-Bryant, M. Kaess, H. Johannsson, and J. J. Leonard, “Dynamic Pose Graph SLAM: Long-term Mapping in Low Dynamic Environments,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 2012.
  BibTeX

  @inproceedings{walcottbryant12iros,
    author = {Walcott-Bryant, A. and Kaess, M. and Johannsson, H. and Leonard, J.J.},
    fullauthor = {Aisha Walcott-Bryant and Michael Kaess and Hordur
                    Johannsson and John J. Leonard},
    title = {Dynamic Pose Graph {SLAM}: Long-term Mapping in Low
                    Dynamic Environments},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {Vilamoura, Portugal},
    month = oct,
    year = {2012}
  }
  

• M. Kaess, S. Williams, V. Indelman, R. Roberts, J. J. Leonard, and F. Dellaert, “Concurrent Filtering and Smoothing,” in Intl. Conf. on Information Fusion (FUSION), Singapore, 2012, pp. 1300–1307.
  E-Print, BibTeX

  @inproceedings{kaess12fusion,
    author = {Kaess, M. and Williams, S. and Indelman, V. and Roberts, R. and Leonard, J.J. and Dellaert, F.},
    fullauthor = {Michael Kaess and Stephen Williams and Vadim Indelman and
                    Richard Roberts and John J. Leonard and Frank Dellaert},
    title = {Concurrent Filtering and Smoothing},
    booktitle = {Intl. Conf. on Information Fusion (FUSION)},
    address = {Singapore},
    pages = {1300-1307},
    month = jul,
    year = {2012},
    eprint = {https://smartech.gatech.edu/bitstream/handle/1853/44937/Kaess12fusion.pdf}
  }
  

• T. Whelan, M. Kaess, M. F. Fallon, H. Johannsson, J. J. Leonard, and J. B. McDonald, “Kintinuous: Spatially Extended KinectFusion,” in RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Sydney, Australia, 2012.
  E-Print, BibTeX

  @inproceedings{whelan12rssw,
    author = {Whelan, T. and Kaess, M. and Fallon, M.F. and Johannsson, H. and Leonard, J.J. and McDonald, J.B.},
    fullauthor = {Thomas Whelan and Michael Kaess and Maurice F. Fallon and
                    Hordur Johannsson and John J. Leonard and John B.
                    McDonald},
    title = {Kintinuous: Spatially Extended {K}inect{F}usion},
    booktitle = {RSS Workshop on {RGB-D}: Advanced Reasoning with Depth
                    Cameras},
    address = {Sydney, Australia},
    month = jul,
    year = {2012},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/71756/MIT-CSAIL-TR-2012-020.pdf}
  }
  

• H. Johannsson, M. Kaess, M. F. Fallon, and J. J. Leonard, “Temporally Scalable Visual SLAM using a Reduced Pose Graph,” in RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments, Sydney, Australia, 2012, Available as MIT CSAIL Technical Report MIT-CSAIL-TR-2012-013.
  BibTeX

  @inproceedings{johannsson12rssw,
    author = {Johannsson, H. and Kaess, M. and Fallon, M.F. and Leonard, J.J.},
    fullauthor = {Hordur Johannsson and Michael Kaess and Maurice F. Fallon
                    and John J. Leonard},
    title = {Temporally Scalable Visual {SLAM} using a Reduced Pose
                    Graph},
    booktitle = {RSS Workshop on Long-term Operation of Autonomous Robotic
                    Systems in Changing Environments},
    address = {Sydney, Australia},
    month = jul,
    year = {2012},
    note = {Available as MIT CSAIL Technical Report
                    MIT-CSAIL-TR-2012-013}
  }
  

• M. F. Fallon, H. Johannsson, and J. J. Leonard, “Efficient Scene Simulation for Robust Monte Carlo Localization using an RGB-D Camera,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2012, pp. 1663–1670.
  E-Print, BibTeX

  @inproceedings{fallon12icra,
    title = {Efficient Scene Simulation for Robust {M}onte {C}arlo
                   Localization using an {RGB-D} Camera},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = may,
    year = {2012},
    author = {Fallon, Maurice F and Johannsson, Hordur and Leonard, John J},
    pages = {1663-1670},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/78893/Leonard_Efficient%20scene.pdf}
  }
  

• D. M. Rosen, M. Kaess, and J. J. Leonard, “An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), St. Paul, MN, 2012, pp. 1262–1269.
  E-Print, BibTeX

  @inproceedings{rosen12icra,
    author = {Rosen, D.M. and Kaess, M. and Leonard, J.J.},
    fullauthor = {David M. Rosen and Michael Kaess and John J. Leonard},
    title = {An Incremental Trust-Region Method for Robust Online
                    Sparse Least-Squares Estimation},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {St. Paul, MN},
    month = may,
    pages = {1262-1269},
    year = {2012},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/78897/Leonard_An%20incremental.pdf?sequence=1&isAllowed=y}
  }
  

• M. Kaess, H. Johannsson, R. Roberts, V. Ila, J. J. Leonard, and F. Dellaert, “iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree,” Intl. J. of Robotics Research, vol. 31, no. 2, pp. 216–235, Feb. 2012.
  E-Print, BibTeX

  @article{kaess12ijrr,
    author = {Kaess, M. and Johannsson, H. and Roberts, R. and Ila, V. and Leonard, J. J. and Dellaert, F.},
    fullauthor = {Michael Kaess and Hordur Johannsson and Richard Roberts
                    and Viorela Ila and John J. Leonard and Frank Dellaert},
    title = {{iSAM2}: Incremental Smoothing and Mapping Using the
                    {B}ayes Tree},
    journal = {Intl. J. of Robotics Research},
    volume = {31},
    issue = {2},
    pages = {216-235},
    month = feb,
    year = {2012},
    publisher = {Sage Publications},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/78894/Leonard_iSAM2.pdf?sequence=1&isAllowed=y}
  }
  

• M. F. Fallon, H. Johannsson, M. Kaess, D. M. Rosen, E. Muggler, and J. J. Leonard, “Mapping the MIT stata center: Large-scale integrated visual and RGB-D SLAM,” in RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, 2012.
  E-Print, BibTeX

  @inproceedings{fallon12rssw,
    title = {Mapping the MIT stata center: Large-scale integrated visual and RGB-D SLAM},
    year = {2012},
    author = {Fallon, Maurice F and Johannsson, Hordur and Kaess, Michael and Rosen, David M and Muggler, Elias and Leonard, John J},
    journal = {RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras},
    eprint = {http://www.research.ed.ac.uk/portal/files/18926224/12_fallon_rss_workshop.pdf}
  }
  

• M. F. Fallon, H. Johannsson, J. Brookshire, S. Teller, and J. J. Leonard, “Sensor fusion for flexible human-portable building-scale mapping,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2012, pp. 4405–4412.
  E-Print, BibTeX

  @inproceedings{fallon12iros,
    title = {Sensor fusion for flexible human-portable building-scale mapping},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2012},
    author = {Fallon, Maurice F and Johannsson, Hordur and Brookshire, Jonathan and Teller, Seth and Leonard, John J},
    pages = {4405-4412},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/78906/Leonard_Sensor%20fusion.pdf?sequence=1&isAllowed=y}
  }
  

• A. Walcott-Bryant, M. Kaess, H. Johannsson, and J. J. Leonard, “Dynamic pose graph SLAM: Long-term mapping in low dynamic environments,” 2012, pp. 1871–1878.
  E-Print, BibTeX

  @inproceedings{bryant12iros,
    title = {Dynamic pose graph SLAM: Long-term mapping in low dynamic environments},
    year = {2012},
    author = {Walcott-Bryant, Aisha and Kaess, Michael and Johannsson, Hordur and Leonard, John J},
    pages = {1871-1878},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/78911/Leonard_Dymanic%20pose.pdf?sequence=1&isAllowed=y}
  }
  

• A. Bahr, J. J. Leonard, and A. Martinoli, “Dynamic Positioning of Beacon Vehicles for Coop- erative Underwater Navigation,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Algarve, Portugal, 2012, pp. 3760–3767.
  E-Print, BibTeX

  @inproceedings{bahr12iros,
    author = {Bahr, A. and Leonard, J.J. and Martinoli, A.},
    fullauthor = {Alexander Bahr and John J. Leonard and A. Martinoli},
    title = {Dynamic Positioning of Beacon Vehicles for Coop- erative
                    Underwater Navigation},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {Algarve, Portugal},
    year = {2012},
    publisher = {IEEE},
    pages = {3760-3767},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/78924/Leonard_Dynamic%20positioning.pdf%3Bjsessionid%3D7CC9651E00B22C3F4DD7CEDF43926E9E?sequence%3D1}
  }
  

2011

• J. McDonald, M. Kaess, C. Cadena, J. Neira, and J. J. Leonard, “6-DOF Multi-session Visual SLAM using Anchor Nodes,” in European Conf. on Mobile Robotics (ECMR), Orbero, Sweden, 2011, pp. 69–76.
  E-Print, BibTeX

  @inproceedings{mcdonald11ecmr,
    title = {{6-DOF} Multi-session Visual {SLAM} using Anchor Nodes},
    author = {McDonald, J. and Kaess, M. and Cadena, C. and Neira, J. and Leonard, J.J.},
    fullauthor = {John McDonald and Michael Kaess and Cesar Cadena and
                    Jos\'{e} Neira and John J. Leonard},
    year = {2011},
    month = sep,
    booktitle = {European Conf. on Mobile Robotics (ECMR)},
    address = {Orbero, Sweden},
    pages = {69-76},
    eprint = {http://mural.maynoothuniversity.ie/6497/1/JM-Anchor-Nodes.pdf}
  }
  

• C. Cadena, J. McDonald, J. Leonard, and J. Neira, “Place Recognition using Near and Far Visual Information,” in Proceedings of the 18th IFAC World Congress, 2011, vol. 18, no. 1, pp. 6822–6828.
  BibTeX

  @inproceedings{cadena11ifac,
    author = {Cadena, C. and McDonald, J. and Leonard, J. and Neira, J.},
    title = {Place Recognition using Near and Far Visual Information},
    booktitle = {Proceedings of the 18th IFAC World Congress},
    location = {Milano, Italy},
    volume = {18},
    number = {1},
    pages = {6822-6828},
    month = aug,
    year = {2011}
  }
  

• M. Kaess, H. Johannsson, R. Roberts, V. Ila, J. J. Leonard, and F. Dellaert, “iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Shanghai, China, 2011, pp. 3281–3288.
  E-Print, BibTeX

  @inproceedings{kaess11icra,
    author = {Kaess, M. and Johannsson, H. and Roberts, R. and Ila, V. and Leonard, J.J. and Dellaert, F.},
    fullauthor = {Michael Kaess and Hordur Johannsson and Richard Roberts
                    and Viorela Ila and John Leonard and Frank Dellaert},
    title = {{iSAM2}: Incremental Smoothing and Mapping with Fluid
                    Relinearization and Incremental Variable Reordering},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Shanghai, China},
    month = may,
    year = {2011},
    pages = {3281-3288},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/64749/Leonard_iSAM2%20Incremental.pdf?sequence=1&isAllowed=y}
  }
  

• R. Truax, R. Platt, and J. Leonard, “Identifying Object Pose and Parameters from 3D Laser Point Clouds,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 2011.
  BibTeX

  @inproceedings{truax11icra,
    title = {Identifying Object Pose and Parameters from {3D} Laser
                   Point Clouds},
    author = {Truax, R. and Platt, R. and Leonard, J.},
    booktitle = {Proceedings of the {IEEE} International Conference on
                   Robotics and Automation (ICRA)},
    year = {2011},
    month = may,
    address = {Shanghai, China}
  }
  

• M. F. Fallon, M. Kaess, H. Johannsson, and J. J. Leonard, “Efficient AUV navigation fusing acoustic ranging and side-scan sonar,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2011, pp. 2398–2405.
  E-Print, BibTeX

  @inproceedings{fallon11icra,
    title = {Efficient AUV navigation fusing acoustic ranging and side-scan sonar},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = {2011},
    month = may,
    author = {Fallon, Maurice F and Kaess, Michael and Johannsson, Hordur and Leonard, John J},
    pages = {2398-2405},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/64410/Leonard_Efficient%20AUV.pdf?sequence=1&isAllowed=y}
  }
  

• R. Truax, R. Platt, and J. Leonard, “Using prioritized relaxations to locate objects in points clouds for manipulation,” 2011, pp. 2091–2097.
  E-Print, BibTeX

  @inproceedings{truax10icra,
    title = {Using prioritized relaxations to locate objects in points clouds for manipulation},
    year = {2011},
    author = {Truax, Robert and Platt, Robert and Leonard, John},
    pages = {2091-2097},
    publisher = {IEEE},
    eprint = {http://www.ccs.neu.edu/home/rplatt/papers/objectlocalization_icra2010.pdf}
  }
  

• J. Folkesson and J. Leonard, “Autonomy through SLAM for an Underwater Robot,” Robotics Research, pp. 55–70, 2011.
  E-Print, BibTeX

  @article{folkesson11rr,
    title = {Autonomy through {SLAM} for an Underwater Robot},
    author = {Folkesson, J. and Leonard, J.},
    journal = {Robotics Research},
    pages = {55-70},
    year = {2011},
    publisher = {Springer},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/119804/Autonomy_through_SLAM_for_an_Underwater_Robot.pdf?sequence=1&isAllowed=y}
  }
  

2010

• J. C. Leedekerken, M. F. Fallon, and J. J. Leonard, “Mapping Complex Marine Environments with Autonomous Surface Craft,” in Intl. Sym. on Experimental Robotics (ISER), Delhi, India, 2010.
  BibTeX

  @inproceedings{leedekerken10iser,
    author = {Leedekerken, J. C. and Fallon, M. F. and Leonard, J. J.},
    title = {Mapping Complex Marine Environments with Autonomous
                   Surface Craft},
    booktitle = {Intl. Sym. on Experimental Robotics (ISER)},
    address = {Delhi, India},
    year = {2010},
    month = dec
  }
  

• M. Benjamin, H. Schmidt, P. Newman, and J. J. Leonard, “Nested Autonomy for Unmanned Marine Vehicles with MOOS-IvP,” J. of Field Robotics, vol. 27, no. 6, pp. 834–875, Nov. 2010.
  E-Print, BibTeX

  @article{benjamin10jfr,
    author = {Benjamin, M. and Schmidt, H. and Newman, P. and Leonard, J.J.},
    fullauthor = {Michael Benjamin and Henrik Schmidt and Paul Newman and
                    John J. Leonard},
    title = {Nested Autonomy for Unmanned Marine Vehicles with
                    {MOOS-IvP}},
    journal = {J. of Field Robotics},
    volume = {27},
    issue = {6},
    pages = {834--875},
    month = nov,
    year = {2010},
    publisher = {Wiley Subscription Services, Inc., A Wiley Company},
    eprint = {https://apps.dtic.mil/dtic/tr/fulltext/u2/a559856.pdf}
  }
  

• A. S. Huang, M. Antone, E. Olson, L. Fletcher, D. Moore, S. Teller, and J. Leonard, “A High-rate, Heterogeneous Data Set From The DARPA Urban Challenge,” Intl. J. of Robotics Research, vol. 29, pp. 1595–1601, Nov. 2010.
  BibTeX

  @article{huangalbert10ijrr,
    author = {Huang, A. S. and Antone, M. and Olson, E. and Fletcher, L. and Moore, D. and Teller, S. and Leonard, J.},
    title = {A High-rate, Heterogeneous Data Set From The {DARPA} Urban
                 Challenge},
    journal = {Intl. J. of Robotics Research},
    year = {2010},
    volume = {29},
    month = nov,
    pages = {1595-1601}
  }
  

• M. F. Fallon, G. Papadopoulos, J. J. Leonard, and N. M. Patrikalakis, “Cooperative AUV Navigation using a Single Maneuvering Surface Craft,” Intl. J. of Robotics Research, vol. 29, no. 12, pp. 1461–1474, Oct. 2010.
  E-Print, DOI, BibTeX

  @article{fallon10ijrr,
    title = {Cooperative {AUV} Navigation using a Single Maneuvering
                 Surface Craft},
    author = {Fallon, M. F. and Papadopoulos, G. and Leonard, J. J. and Patrikalakis, N. M.},
    journal = {Intl. J. of Robotics Research},
    year = {2010},
    month = oct,
    volume = {29},
    number = {12},
    pages = {1461-1474},
    doi = {10.1177/0278364910380760},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/78895/Leonard_Cooperative%20AUV.pdf?sequence=1&isAllowed=y}
  }
  

• H. Johannsson, M. Kaess, B. Englot, F. Hover, and J. J. Leonard, “Imaging Sonar-Aided Navigation for Autonomous Underwater Harbor Surveillance,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 2010, pp. 4396–4403.
  E-Print, BibTeX

  @inproceedings{johannsson10iros,
    author = {Johannsson, H. and Kaess, M. and Englot, B. and Hover, F. and Leonard, J.J.},
    fullauthor = {Hordur Johannsson and Michael Kaess and Brendan Englot and
                    Franz Hover and John Leonard},
    title = {Imaging Sonar-Aided Navigation for Autonomous Underwater
                    Harbor Surveillance},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {Taipei, Taiwan},
    month = oct,
    pages = {4396-4403},
    publisher = {IEEE},
    year = {2010},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/78636/Hover_Imaging%20sonar-aided.pdf?sequence=1&isAllowed=y}
  }
  

• G. Papadopoulos, M. F. Fallon, J. J. Leonard, and N. M. Patrikalakis, “Cooperative localization of marine vehicles using nonlinear state estimation,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 2010, pp. 4874–4879.
  E-Print, BibTeX

  @inproceedings{papadopoulos10iros,
    title = {Cooperative localization of marine vehicles using nonlinear state estimation},
    year = {2010},
    author = {Papadopoulos, Georgios and Fallon, Maurice F and Leonard, John J and Patrikalakis, Nicholas M},
    pages = {4874-4879},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {Taipei, Taiwan},
    month = oct,
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/78902/Leonard_Cooperative%20localization.pdf?sequence=1&isAllowed=y}
  }
  

• M. Kaess, H. Johannsson, B. Englot, F. Hover, and J. J. Leonard, “Towards Autonomous Ship Hull Inspection using the Bluefin HAUV,” in Symposium on Technology and the Mine Problem, Naval Postgraduate School, Monterey, CA, 2010.
  E-Print, BibTeX

  @inproceedings{kaess10istmp,
    author = {Kaess, M. and Johannsson, H. and Englot, B. and Hover, F. and Leonard, J.J.},
    title = {Towards Autonomous Ship Hull Inspection using the
                   {B}luefin {HAUV}},
    booktitle = {Symposium on Technology and the Mine Problem},
    year = {2010},
    address = {Naval Postgraduate School, Monterey, CA},
    month = may,
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/64472/Leonard_Towards%20Autonomous.pdf?sequence=1&isAllowed=y}
  }
  

• M. F. Fallon, G. Papadopoulos, and J. J. Leonard, “A Measurement Distribution Framework for Cooperative Navigation using multiple AUVs,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2010, pp. 4803–4808.
  E-Print, BibTeX

  @inproceedings{fallon10icra,
    title = {A Measurement Distribution Framework for Cooperative
                   Navigation using multiple {AUVs}},
    author = {Fallon, M. F. and Papadopoulos, G. and Leonard, J. J.},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = may,
    year = {2010},
    pages = {4803-4808},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/78892/Leonard_A%20measurement.pdf?sequence=1&isAllowed=y}
  }
  

• B. Kim, M. Kaess, L. Fletcher, J. J. Leonard, A. Bachrach, N. Roy, and S. Teller, “Multiple Relative Pose Graphs for Robust Cooperative Mapping,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Anchorage, Alaska, 2010, pp. 3185–3192.
  E-Print, BibTeX

  @inproceedings{kim10icra,
    author = {Kim, B. and Kaess, M. and Fletcher, L. and Leonard, J.J. and Bachrach, A. and Roy, N. and Teller, S.},
    fullauthor = {Been Kim and Michael Kaess and Luke Fletcher and John
                    Leonard and Abe Bachrach and Nicholas Roy and Seth Teller},
    title = {Multiple Relative Pose Graphs for Robust Cooperative
                    Mapping},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Anchorage, Alaska},
    month = may,
    year = {2010},
    pages = {3185-3192},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/73536/Teller_Multiple%20relative.pdf?sequence=1&isAllowed=y}
  }
  

• A. S. Huang, M. Antone, E. Olson, L. Fletcher, D. Moore, S. Teller, and J. Leonard, “A high-rate, heterogeneous data set from the DARPA urban challenge,” in The International Journal of Robotics Research, 2010, vol. 29, no. 13, pp. 1595–1601.
  E-Print, BibTeX

  @inproceedings{huang10ijrr,
    title = {A high-rate, heterogeneous data set from the {DARPA} urban challenge},
    year = {2010},
    author = {Huang, Albert S and Antone, Matthew and Olson, Edwin and Fletcher, Luke and Moore, David and Teller, Seth and Leonard, John},
    journal = {The International Journal of Robotics Research},
    volume = {29},
    number = {13},
    pages = {1595-1601},
    publisher = {Sage Publications},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/73537/Teller_A%20high-rate%20heterogeneous.pdf?sequence=1&isAllowed=y}
  }
  

• M. F. Fallon, G. Papadopoulos, and J. J. Leonard, “Cooperative AUV navigation using a single surface craft,” 2010, pp. 331–340.
  E-Print, BibTeX

  @inproceedings{fallon10ifsr,
    title = {Cooperative AUV navigation using a single surface craft},
    year = {2010},
    author = {Fallon, Maurice F and Papadopoulos, Georgios and Leonard, John J},
    pages = {331-340},
    publisher = {Springer, Berlin, Heidelberg},
    eprint = {http://www.research.ed.ac.uk/portal/files/18910919/09_fallon_fsr.pdf}
  }
  

2009

• M. F. Fallon, G. Papadopoulos, and J. J. Leonard, “Cooperative AUV Navigation using a Single Surface Craft,” in Field and Service Robotics, 2009.
  BibTeX

  @inproceedings{fallon09fsr,
    author = {Fallon, M.F. and Papadopoulos, G. and Leonard, J.J.},
    fullauthor = {Maurice F. Fallon and Georgios Papadopoulos and John J.
                    Leonard},
    title = {Cooperative {AUV} Navigation using a Single Surface
                    Craft},
    booktitle = {Field and Service Robotics},
    location = {Cambridge, USA},
    month = jul,
    year = {2009}
  }
  

• A. Bahr, M. Walter, and J. J. Leonard, “Consistent cooperative localization,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2009, pp. 3415–3422.
  E-Print, BibTeX

  @inproceedings{bahr09icra,
    author = {Bahr, A. and Walter, M. and Leonard, J.J.},
    fullauthor = {Alexander Bahr and Matt Walter and John J. Leonard},
    title = {Consistent cooperative localization},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    location = {Kobe, Japan},
    pages = {3415-3422},
    month = may,
    year = {2009},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/58890/Bahr-2009-Consistent%20cooperative%20localization.pdf?sequence=2&isAllowed=y}
  }
  

• A. Bahr, J. J. Leonard, and M. F. Fallon, “Cooperative Localization for Autonomous Underwater Vehicles,” Intl. J. of Robotics Research, vol. 28, no. 6, pp. 714–728, 2009.
  E-Print, BibTeX

  @article{bahr09ijrr,
    author = {Bahr, A. and Leonard, J.J. and Fallon, M.F.},
    fullauthor = {Alexander Bahr and John J. Leonard and Maurice F. Fallon},
    title = {Cooperative Localization for Autonomous Underwater
                    Vehicles},
    journal = {Intl. J. of Robotics Research},
    volume = {28},
    number = {6},
    pages = {714-728},
    year = {2009},
    publisher = {Sage Publications},
    eprint = {https://apps.dtic.mil/dtic/tr/fulltext/u2/a501275.pdf}
  }
  

• J. Leonard, J. How, S. Teller, M. Berger, S. Campbell, G. Fiore, L. Fletcher, E. Frazzoli, A. Huang, S. Karaman, O. Koch, Y. Kuwata, D. Moore, E. Olson, S. Peters, J. Teo, R. Truax, M. Walter, D. Barrett, A. Epstein, K. Maheloni, K. Moyer, T. Jones, R. Buckley, M. Antone, R. Galejs, S. Krishnamurthy, and J. Williams, “A perception-driven autonomous urban vehicle,” 2009, pp. 163–230.
  E-Print, BibTeX

  @inproceedings{leonard09mitduc,
    title = {A perception-driven autonomous urban vehicle},
    year = {2009},
    author = {Leonard, John and How, Jonathan and Teller, Seth and Berger, Mitch and Campbell, Stefan and Fiore, Gaston and Fletcher, Luke and Frazzoli, Emilio and Huang, Albert and Karaman, Sertac and Koch, Olivier and Kuwata, Yoshiaki and Moore, David and Olson, Edwin and Peters, Steve and Teo, Justin and Truax, Robert and Walter, Matthew and Barrett, David and Epstein, Alexander and Maheloni, Keoni and Moyer, Katy and Jones, Troy and Buckley, Ryan and Antone, Matthew and Galejs, Robert and Krishnamurthy, Siddhartha and Williams, Jonathan},
    pages = {163-230},
    publisher = {Springer, Berlin, Heidelberg},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.225.3954&rep=rep1&type=pdf}
  }
  

• D. C. Moore, A. S. Huang, M. Walter, E. Olson, L. Fletcher, J. Leonard, and S. Teller, “Simultaneous Local and Global State Estimation for Robotic Navigation,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2009, pp. 3794–3799.
  E-Print, BibTeX

  @inproceedings{moore09icra,
    author = {Moore, David C. and Huang, Albert S. and Walter, Matthew and Olson, Edwin and Fletcher, Luke and Leonard, John and Teller, Seth},
    title = {Simultaneous Local and Global State Estimation for Robotic
                   Navigation},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = {2009},
    pages = {3794-3799},
    publisher = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/59992/Moore-2009-Simultaneous%20local%20and%20global%20state%20estimation%20for%20robotic%20navigation.pdf?sequence=2&isAllowed=y}
  }
  

2008

• M. Walter, F. Hover, and J. Leonard, “SLAM for ship hull inspection using exactly sparse extended information filters,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2008, pp. 1463–1470.
  BibTeX

  @inproceedings{walter08icra,
    author = {Walter, M. and Hover, F. and Leonard, J.},
    title = {{SLAM} for ship hull inspection using exactly sparse
                   extended information filters},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    pages = {1463--1470},
    year = {2008},
    month = may
  }
  

• J. C. Leedekerken, R. Williams, and J. Leonard, “Short-Baseline Acoustic Tracking with Autonomous Surface Vehicles,” in IFAC Proceedings Volumes, 2008, vol. 41, no. 1, pp. 218–223.
  E-Print, BibTeX

  @inproceedings{leederkerken08ifac,
    title = {Short-Baseline Acoustic Tracking with Autonomous Surface Vehicles},
    year = {2008},
    author = {Leedekerken, Jacques C and Williams, Rob and Leonard, John},
    journal = {IFAC Proceedings Volumes},
    volume = {41},
    number = {1},
    pages = {218-223},
    publisher = {Elsevier},
    eprint = {https://pdfs.semanticscholar.org/7177/2cc695492b1394ec00f3f0e2987f006fa735.pdf}
  }
  

• L. Fletcher, S. Teller, E. Olson, D. Moore, Y. Kuwata, J. How, J. Leonard, I. Miller, M. Campbell, D. Huttenlocher, and others, “The MIT–Cornell collision and why it happened,” Journal of Field Robotics, vol. 25, no. 10, pp. 775–807, 2008.
  E-Print, BibTeX

  @article{fletcher08ijfr,
    title = {The {MIT}--{C}ornell collision and why it happened},
    author = {Fletcher, L. and Teller, S. and Olson, E. and Moore, D. and Kuwata, Y. and How, J. and Leonard, J. and Miller, I. and Campbell, M. and Huttenlocher, D. and others},
    journal = {Journal of Field Robotics},
    volume = {25},
    number = {10},
    pages = {775--807},
    year = {2008},
    publisher = {Wiley Online Library},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/60040/FletcherJFR08%5B1%5D.pdf?sequence=1&isAllowed=y}
  }
  

• J. Folkesson, J. Leederkerken, R. Williams, A. Patrikalakis, and J. Leonard, “A feature based navigation system for an autonomous underwater robot,” in Field and Service Robotics, 2008, vol. 42, pp. 105–114.
  E-Print, BibTeX

  @inproceedings{folkesson08ifsr,
    author = {Folkesson, J. and Leederkerken, J. and Williams, R. and Patrikalakis, A. and Leonard, J.},
    title = {A feature based navigation system for an autonomous
                   underwater robot},
    booktitle = {Field and Service Robotics},
    volume = {42},
    pages = {105--114},
    year = {2008},
    eprint = {https://www.diva-portal.org/smash/get/diva2:436446/FULLTEXT01.pdf}
  }
  

• J. Holmberg, J. Leonard, D. King, and M. Cotting, “Flying qualities specifications and design standards for unmanned air vehicles,” 2008, p. 6555.
  BibTeX

  @inproceedings{holmberg08afmc,
    title = {Flying qualities specifications and design standards for unmanned air vehicles},
    year = {2008},
    author = {Holmberg, Jessica and Leonard, John and King, Daniel and Cotting, M},
    pages = {6555}
  }
  

• C. Detweiler, J. Leonard, D. Rus, and S. Teller, “Passive mobile robot localization within a fixed beacon field,” Algorithmic Foundation of Robotics VII, pp. 425–440, 2008.
  BibTeX

  @article{detweiler08wafr,
    title = {Passive mobile robot localization within a fixed beacon
                   field},
    author = {Detweiler, C. and Leonard, J. and Rus, D. and Teller, S.},
    journal = {Algorithmic Foundation of Robotics VII},
    pages = {425--440},
    year = {2008},
    publisher = {Springer}
  }
  

• J. Leonard, J. How, S. Teller, M. Berger, S. Campbell, G. Fiore, L. Fletcher, E. Frazzoli, A. Huang, S. Karaman, and others, “A perception-driven autonomous urban vehicle,” J. of Field Robotics, vol. 25, no. 10, pp. 727–774, 2008.
  DOI, BibTeX

  @article{leonard08jfr,
    author = {Leonard, J. and How, J. and Teller, S. and Berger, M. and Campbell, S. and Fiore, G. and Fletcher, L. and Frazzoli, E. and Huang, A. and Karaman, S. and others},
    fullauthor = {Leonard, John and How, Jonathan and Teller, Seth and
                    Berger, Mitch and Campbell, Stefan and Fiore, Gaston and
                    Fletcher, Luke and Frazzoli, Emilio and Huang, Albert and
                    Karaman, Sertac and Koch, Olivier and Kuwata, Yoshiaki and
                    Moore, David and Olson, Edwin and Peters, Steve and Teo,
                    Justin and Truax, Robert and Walter, Matthew and Barrett,
                    David and Epstein, Alexander and Maheloni, Keoni and Moyer,
                    Katy and Jones, Troy and Buckley, Ryan and Antone, Matthew
                    and Galejs, Robert and Krishnamurthy, Siddhartha and
                    Williams, Jonathan},
    title = {A perception-driven autonomous urban vehicle},
    journal = {J. of Field Robotics},
    volume = {25},
    number = {10},
    year = {2008},
    issn = {1556-4959},
    pages = {727--774},
    doi = {http://dx.doi.org/10.1002/rob.v25:10},
    publisher = {John Wiley and Sons Ltd.},
    address = {Chichester, UK}
  }
  

• A. J. Shafer, M. R. Benjamin, J. J. Leonard, and J. Curcio, “Autonomous cooperation of heterogeneous platforms for sea-based search tasks,” in OCEANS 2008, 2008, pp. 1–10.
  E-Print, BibTeX

  @inproceedings{shafer08oceans,
    title = {Autonomous cooperation of heterogeneous platforms for
                      sea-based search tasks},
    author = {Shafer, A. J. and Benjamin, M. R. and Leonard, J. J. and Curcio, J.},
    booktitle = {OCEANS 2008},
    pages = {1-10},
    year = {2008},
    organization = {IEEE},
    eprint = {https://dspace.mit.edu/bitstream/handle/1721.1/45650/402770749-MIT.pdf?sequence=2&isAllowed=y}
  }
  

• S. Thrun and J. J. Leonard, “Simultaneous Localization and Mapping,” in Springer Handbook of Robotics, B. Siciliano and O. Khatib, Eds. Springer, 2008.
  BibTeX

  @incollection{thrun08handbook,
    title = {Simultaneous Localization and Mapping},
    booktitle = {Springer Handbook of Robotics},
    author = {Thrun, S. and Leonard, J. J.},
    editor = {Siciliano, B. and Khatib, O.},
    publisher = {Springer},
    year = {2008}
  }
  

• A. Bahr and J. J. Leonard, “Cooperative Localization for Autonomous Underwater Vehicles,” in Experimental Robotics, Rio de Janeiro, Brasil, 2008, pp. 387–395.
  BibTeX

  @inproceedings{bahr08iser,
    author = {Bahr, A. and Leonard, J. J.},
    fullauthor = {Alexander Bahr and John J. Leonard},
    title = {Cooperative {L}ocalization for {A}utonomous {U}nderwater
                    {V}ehicles},
    booktitle = {Experimental Robotics},
    pages = {387--395},
    address = {Rio de Janeiro, Brasil},
    year = {2008}
  }
  

2007

• J. Folkesson, J. Leedekerken, R. Williams, and J. Leonard, “Feature Tracking for Underwater Navigation using Sonar,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), San Diego, CA, 2007, pp. 3678–3684.
  E-Print, BibTeX

  @inproceedings{folkesson07iros,
    author = {Folkesson, J. and Leedekerken, J. and Williams, R. and Leonard, J.},
    title = {Feature Tracking for Underwater Navigation using Sonar},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {San Diego, CA},
    month = oct,
    year = {2007},
    pages = {3678-3684},
    eprint = {https://www.diva-portal.org/smash/get/diva2:436455/FULLTEXT01.pdf}
  }
  

• E. Olson, J. Leonard, and S. Teller, “Spatially-Adaptive Learning Rates for Online Incremental SLAM,” in Robotics: Science and Systems (RSS), 2007.
  E-Print, BibTeX

  @inproceedings{olson07rss,
    author = {Olson, E. and Leonard, J. and Teller, S.},
    fullauthor = {Edwin Olson and John Leonard and Seth Teller},
    title = {Spatially-Adaptive Learning Rates for Online Incremental
                    {SLAM}},
    booktitle = {Robotics: Science and Systems (RSS)},
    location = {Atlanta, GA},
    month = jun,
    year = {2007},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.72.6521&rep=rep1&type=pdf}
  }
  

• N. Roy, J. Leonard, U.-M. O’Reilly, D. Rus, and S. Teller, “The Experience of Teaching Software Development in a Robotics Project Course,” in Proc. 3rd Int’l CDIO Conf., Cambridge, Mass, 2007.
  E-Print, BibTeX

  @inproceedings{roy07cdio,
    title = {The Experience of Teaching Software Development in a Robotics Project Course},
    year = {2007},
    author = {Roy, Nicholas and Leonard, John and O'Reilly, Una-May and Rus, Daniela and Teller, Seth},
    journal = {Proc. 3rd Int'l CDIO Conf., Cambridge, Mass},
    eprint = {https://www.researchgate.net/profile/Daniela_Rus/publication/228721559_THE_EXPERIENCE_OF_TEACHING_SOFTWARE_DEVELOPMENT_IN_A_ROBOTICS_PROJECT_COURSE/links/56d043d508aeb52500cd35a9/THE-EXPERIENCE-OF-TEACHING-SOFTWARE-DEVELOPMENT-IN-A-ROBOTICS-PROJECT-COURSE.pdf}
  }
  

• A. Bahr and J. J. Leonard, “Minimizing Trilateration Errors in the Presence of Noisy Landmarks,” in European Conference on Mobile Robots, 2007, pp. 48–53.
  E-Print, BibTeX

  @inproceedings{bahr07ecmr,
    author = {Bahr, A. and Leonard, J. J.},
    year = {2007},
    title = {Minimizing Trilateration Errors in the Presence of Noisy
                   Landmarks},
    booktitle = {European Conference on Mobile Robots},
    journal = {Proc. 3rd European Conference on Mobile Robots (ECMR)},
    pages = {48-53},
    eprint = {https://infoscience.epfl.ch/record/134044/files/ECMR2007.pdf}
  }
  

• M. R. Walter, R. M. Eustice, and J. J. Leonard, “Exactly sparse extended information filters for feature-based SLAM,” Intl. J. of Robotics Research, vol. 26, no. 4, pp. 335–359, 2007.
  BibTeX

  @article{walter07ijrr,
    title = {Exactly sparse extended information filters for
                   feature-based {SLAM}},
    author = {Walter, M.R. and Eustice, R.M. and Leonard, J.J.},
    journal = {Intl. J. of Robotics Research},
    volume = {26},
    number = {4},
    pages = {335--359},
    year = {2007},
    publisher = {SAGE Publications}
  }
  

• M. Walter, R. Eustice, and J. Leonard, “A provably consistent method for imposing sparsity in feature-based SLAM information filters,” 2007, pp. 214–234.
  E-Print, BibTeX

  @inproceedings{walter07isrr,
    title = {A provably consistent method for imposing sparsity in feature-based SLAM information filters},
    year = {2007},
    author = {Walter, Matthew and Eustice, Ryan and Leonard, John},
    pages = {214-234},
    publisher = {Springer, Berlin, Heidelberg},
    eprint = {https://www.researchgate.net/profile/Ryan_Eustice/publication/220757415_A_Provably_Consistent_Method_for_Imposing_Sparsity_in_Feature-Based_SLAM_Information_Filters/links/0deec526e5840bcaf2000000/A-Provably-Consistent-Method-for-Imposing-Sparsity-in-Feature-Based-SLAM-Information-Filters.pdf}
  }
  

• M. R. Walter, R. M. Eustice, and J. J. Leonard, “Exactly sparse extended information filters for feature-based SLAM,” in The International Journal of Robotics Research, 2007, vol. 26, no. 4, pp. 335–359.
  E-Print, BibTeX

  @inproceedings{walter08ijrr,
    title = {Exactly sparse extended information filters for feature-based SLAM},
    year = {2007},
    author = {Walter, Matthew R and Eustice, Ryan M and Leonard, John J},
    journal = {The International Journal of Robotics Research},
    volume = {26},
    number = {4},
    pages = {335-359},
    publisher = {Sage Publications},
    eprint = {https://deepblue.lib.umich.edu/bitstream/handle/2027.42/86031/mwalter-22.pdf?sequence=1}
  }
  

2006

• R. M. Eustice, H. Singh, and J. J. Leonard, “Exactly Sparse Delayed-State Filters for View-Based SLAM,” IEEE Trans. Robotics, vol. 22, no. 6, pp. 1100–1114, Dec. 2006.
  E-Print, DOI, BibTeX

  @article{eustice06tro,
    author = {Eustice, R.M. and Singh, H. and Leonard, J.J.},
    fullauthor = {Ryan M. Eustice and Hanumant Singh and John J. Leonard},
    title = {Exactly Sparse Delayed-State Filters for View-Based
                    {SLAM}},
    journal = {{IEEE} Trans. Robotics},
    volume = {22},
    number = {6},
    pages = {1100-1114},
    month = dec,
    year = {2006},
    doi = {10.1109/TRO.2006.886264},
    issn = {1552-3098},
    publisher = {IEEE},
    eprint = {https://deepblue.lib.umich.edu/bitstream/handle/2027.42/86062/reustice-25.pdf?sequence=1}
  }
  

• R. M. Eustice, H. Singh, J. J. Leonard, and M. R. Walter, “Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters,” Intl. J. of Robotics Research, vol. 25, no. 12, pp. 1223–1242, Dec. 2006.
  E-Print, BibTeX

  @article{eustice06ijrr,
    author = {Eustice, R.M. and Singh, H. and Leonard, J.J. and Walter, M.R.},
    fullauthor = {Ryan M. Eustice and Hanumant Singh and John J. Leonard and
                    Matthew R. Walter},
    title = {Visually Mapping the {RMS} {T}itanic: Conservative
                    Covariance Estimates for {SLAM} Information Filters},
    journal = {Intl. J. of Robotics Research},
    volume = {25},
    number = {12},
    pages = {1223-1242},
    month = dec,
    year = {2006},
    publisher = {Sage Publications},
    eprint = {https://deepblue.lib.umich.edu/bitstream/handle/2027.42/86056/reustice-24.pdf?sequence=1}
  }
  

• E. Olson, J. J. Leonard, and S. Teller, “Robust Range-Only Beacon Localization,” IEEE Journal of Oceanic Engineering, vol. 31, no. 4, pp. 949–958, Oct. 2006.
  E-Print, BibTeX

  @article{olson06joe,
    author = {Olson, E. and Leonard, J.J. and Teller, S.},
    fullauthor = {Edwin Olson and John J. Leonard and Seth Teller},
    title = {Robust Range-Only Beacon Localization},
    journal = {IEEE Journal of Oceanic Engineering},
    volume = {31},
    number = {4},
    pages = {949--958},
    month = oct,
    year = {2006},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.385.4863&rep=rep1&type=pdf}
  }
  

• E. Olson, J. Leonard, and S. Teller, “Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2006, pp. 2262–2269.
  E-Print, BibTeX

  @inproceedings{olson06icra,
    author = {Olson, E. and Leonard, J. and Teller, S.},
    fullauthor = {Edwin Olson and John Leonard and Seth Teller},
    title = {Fast Iterative Alignment of Pose Graphs with Poor Initial
                    Estimates},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    location = {Orlando, FL},
    pages = {2262-2269},
    month = may,
    year = {2006},
    sourcecode = {http://www.edwinolson.org/papers/ in java},
    eprint = {http://rvsn.csail.mit.edu/content/eolson/graphoptim/eolson-graphoptim2006.pdf}
  }
  

• M. R. Benjamin, J. A. Curcio, J. J. Leonard, and P. M. Newman, “Navigation of unmanned marine vehicles in accordance with the rules of the road,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2006, pp. 3581–3587.
  E-Print, BibTeX

  @inproceedings{benjamin06icra,
    title = {Navigation of unmanned marine vehicles in accordance with the rules of the road},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = {2006},
    author = {Benjamin, Michael R and Curcio, Joseph A and Leonard, JJ and Newman, PM},
    pages = {3581-3587},
    publisher = {Ieee},
    eprint = {https://apps.dtic.mil/dtic/tr/fulltext/u2/a572909.pdf}
  }
  

• D. P. Eickstedt, M. R. Benjamin, H. Schmidt, and J. J. Leonard, “Adaptive control of heterogeneous marine sensor platforms in an autonomous sensor network,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2006, pp. 5514–5521.
  E-Print, BibTeX

  @inproceedings{eickstedt06iros,
    title = {Adaptive control of heterogeneous marine sensor platforms in an autonomous sensor network},
    year = {2006},
    author = {Eickstedt, Donald P and Benjamin, Michael R and Schmidt, Henrik and Leonard, John J},
    pages = {5514-5521},
    publisher = {IEEE},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.548.5328&rep=rep1&type=pdf}
  }
  

• J. C. Leedekerken, J. J. Leonard, M. C. Bosse, and A. Balasuriya, “Real-time Obstacle Avoidance and Mapping for AUVs Operating in Complex Environments,” Proceedings of the Seventh International Symposium on Technology and the Mine Problem: May 2-4, 2006, Naval Postgraduate School, vol. 1, p. 35, 2006.
  BibTeX

  @article{leedekerken06mine,
    title = {Real-time Obstacle Avoidance and Mapping for {AUV}s
                   Operating in Complex Environments},
    author = {Leedekerken, J. C. and Leonard, J. J. and Bosse, M. C. and Balasuriya, A.},
    journal = {Proceedings of the Seventh International Symposium on
                   Technology and the Mine Problem: May 2-4, 2006, Naval
                   Postgraduate School},
    volume = {1},
    pages = {35},
    year = {2006},
    publisher = {Naval Postgraduate School}
  }
  

• J. C. Leedekerken, R. Williams, and J. J. Leonard, “Short-Baseline Acoustic Tracking with Autonomous Surface Vehicles,” in Proceedings of the 2008 IFAC Workshop Navigation, Guidance, and Control of Underwater Vehicles, Limerick, Ireland, 2006.
  BibTeX

  @inproceedings{leedekerken08ifac,
    author = {Leedekerken, J.C. and Williams, R. and Leonard, J.J.},
    fullauthor = {Jacques C. Leedekerken and Rob Williams and John J.
                    Leonard},
    title = {Short-Baseline Acoustic Tracking with Autonomous Surface
                    Vehicles},
    booktitle = {Proceedings of the 2008 IFAC Workshop Navigation,
                    Guidance, and Control of Underwater Vehicles},
    address = {Limerick, Ireland},
    year = {2006}
  }
  

• D. Eickstedt, M. Benjamin, H. Schmidt, and J. Leonard, “Adaptive tracking of underwater targets with autonomous sensor networks,” in Journal of Underwater Acoustics, 2006, vol. 56, no. 2, pp. 465–495.
  E-Print, BibTeX

  @inproceedings{eickstedt06ijua,
    title = {Adaptive tracking of underwater targets with autonomous sensor networks},
    year = {2006},
    author = {Eickstedt, D and Benjamin, M and Schmidt, Henrik and Leonard, J},
    journal = {Journal of Underwater Acoustics},
    volume = {56},
    number = {2},
    pages = {465-495},
    eprint = {https://pdfs.semanticscholar.org/1a8d/76e3cf0588fe00018a4912b5b67298866cd3.pdf}
  }
  

• M. R. Benjamin, J. J. Leonard, J. A. Curcio, and P. M. Newman, “A method for protocol‐based collision avoidance between autonomous marine surface craft,” in Journal of Field Robotics, 2006, vol. 23, no. 5, pp. 333–346.
  E-Print, BibTeX

  @inproceedings{benjamin06ijfr,
    title = {A method for protocol‐based collision avoidance between autonomous marine surface craft},
    year = {2006},
    author = {Benjamin, Michael R and Leonard, John J and Curcio, Joseph A and Newman, Paul M},
    journal = {Journal of Field Robotics},
    volume = {23},
    number = {5},
    pages = {333-346},
    publisher = {Wiley Subscription Services, Inc., A Wiley Company},
    eprint = {https://apps.dtic.mil/dtic/tr/fulltext/u2/a551544.pdf}
  }
  

• R. Rikoski, J. Leonard, P. Newman, and H. Schmidt, “Trajectory sonar perception in the ligurian sea,” Experimental Robotics IX, pp. 557–570, 2006.
  E-Print, BibTeX

  @article{rikoski06iser,
    title = {Trajectory sonar perception in the ligurian sea},
    author = {Rikoski, R. and Leonard, J. and Newman, P. and Schmidt, H.},
    journal = {Experimental Robotics IX},
    pages = {557--570},
    year = {2006},
    publisher = {Springer Berlin/Heidelberg},
    eprint = {https://apps.dtic.mil/dtic/tr/fulltext/u2/a603637.pdf}
  }
  

2005

• M. Walter, R. Eustice, and J. Leonard, “A Provably Consistent Method for Imposing Exact Sparsity in Feature-based SLAM Information Filters,” in Proceedings of the International Symposium of Robotics Research (ISRR), San Francisco, CA, 2005, pp. 214–234.
  BibTeX

  @inproceedings{walter05isrr,
    title = {A Provably Consistent Method for Imposing Exact Sparsity
                   in Feature-based {SLAM} Information Filters},
    author = {Walter, M. and Eustice, R. and Leonard, J.},
    booktitle = {Proceedings of the International Symposium of Robotics
                   Research (ISRR)},
    pages = {214--234},
    publisher = {Springer},
    month = oct,
    year = {2005},
    address = {San Francisco, CA}
  }
  

• E. Olson, M. Walter, S. Teller, and J. J. Leonard, “Single-Cluster Spectral Graph Partitioning for Robotics Applications,” in Proceedings of Robotics: Science and Systems, Cambridge, USA, 2005, pp. 265–272.
  E-Print, BibTeX

  @inproceedings{olson05rss,
    author = {Olson, E. and Walter, M. and Teller, S. and Leonard, J.J.},
    fullauthor = {Edwin Olson and Matthew Walter and Seth Teller and John J.
                    Leonard},
    title = {Single-Cluster Spectral Graph Partitioning for Robotics
                    Applications},
    booktitle = {Proceedings of Robotics: Science and Systems},
    year = {2005},
    address = {Cambridge, USA},
    month = jun,
    pages = {265-272},
    eprint = {http://roboticsproceedings.org/rss01/p35.pdf}
  }
  

• R. Eustice, H. Singh, J. Leonard, M. Walter, and R. Ballard, “Visually Navigating the RMS Titanic with SLAM Information Filters,” in Robotics: Science and Systems (RSS), 2005, pp. 57–64.
  E-Print, BibTeX

  @inproceedings{eustice05rss,
    author = {Eustice, R. and Singh, H. and Leonard, J. and Walter, M. and Ballard, R.},
    fullauthor = {Ryan Eustice and Hanumant Singh and John Leonard and
                    Matthew Walter and Robert Ballard},
    title = {Visually Navigating the {RMS} {T}itanic with {SLAM}
                    Information Filters},
    booktitle = {Robotics: Science and Systems (RSS)},
    location = {Cambridge, USA},
    month = jun,
    year = {2005},
    pages = {57-64},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/Eustice05rss.pdf}
  }
  

• R. Eustice, M. Walter, and J. Leonard, “Sparse extended information filters: Insights into sparsification,” in Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on, 2005, pp. 3281–3288.
  E-Print, BibTeX

  @inproceedings{eustice05iros,
    title = {Sparse extended information filters: Insights into
                      sparsification},
    author = {Eustice, R. and Walter, M. and Leonard, J.},
    booktitle = {Intelligent Robots and Systems, 2005.(IROS 2005). 2005
                      IEEE/RSJ International Conference on},
    pages = {3281--3288},
    year = {2005},
    organization = {IEEE},
    eprint = {https://deepblue.lib.umich.edu/bitstream/handle/2027.42/86045/reustice-31.pdf%3Bjsessionid%3D4BEBF640644939F543180FB13D950460?sequence%3D1}
  }
  

• R. Eustice, H. Singh, and J. Leonard, “Exactly Sparse Delayed State Filters,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Barcelona, Spain, 2005, pp. 2417–2424.
  E-Print, BibTeX

  @inproceedings{eustice05icra,
    address = {Barcelona, Spain},
    author = {Eustice, R. and Singh, H. and Leonard, J.},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    pages = {2417--2424},
    organization = {IEEE},
    title = {Exactly Sparse Delayed State Filters},
    year = {2005},
    eprint = {https://deepblue.lib.umich.edu/bitstream/handle/2027.42/86061/reustice-29.pdf?sequence=1}
  }
  

• M. Dragone, R. O’Donoghue, J. J. Leonard, G. O’Hare, B. Duffy, A. Patrikalakis, and J. Leederkerken, “Robot soccer anywhere: achieving persistent autonomous navigation, mapping, and object vision tracking in dynamic environments,” 2005, vol. 5827, pp. 255–264.
  E-Print, BibTeX

  @inproceedings{dragone05spie,
    title = {Robot soccer anywhere: achieving persistent autonomous navigation, mapping, and object vision tracking in dynamic environments},
    year = {2005},
    author = {Dragone, Mauro and O'Donoghue, Ruadhan and Leonard, John J and O'Hare, Gregory and Duffy, Brian and Patrikalakis, Andrew and Leederkerken, Jacques},
    volume = {5827},
    pages = {255-264},
    publisher = {International Society for Optics and Photonics},
    eprint = {https://core.ac.uk/download/pdf/16341539.pdf}
  }
  

• P. M. Newman, J. J. Leonard, and R. J. Rikoski, “Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar,” Robotics Research, pp. 409–420, 2005.
  BibTeX

  @article{newman05isrr,
    title = {Towards constant-time {SLAM} on an autonomous underwater
                   vehicle using synthetic aperture sonar},
    author = {Newman, P. M. and Leonard, J. J. and Rikoski, R. J.},
    journal = {Robotics Research},
    pages = {409--420},
    year = {2005},
    publisher = {Springer}
  }
  

• J. Curcio, J. Leonard, J. Vaganay, A. Patrikalakis, A. Bahr, D. Battle, H. Schmidt, and M. Grund, “Experiments in moving baseline navigation using autonomous surface craft,” 2005, pp. 730–735.
  E-Print, BibTeX

  @inproceedings{curcio05boceans,
    title = {Experiments in moving baseline navigation using autonomous surface craft},
    year = {2005},
    author = {Curcio, Joseph and Leonard, John and Vaganay, Jerome and Patrikalakis, Andrew and Bahr, Alexander and Battle, David and Schmidt, Henrik and Grund, Matthew},
    pages = {730-735},
    publisher = {IEEE},
    eprint = {https://infoscience.epfl.ch/record/134046/files/curcio2005b.pdf}
  }
  

• J. Curcio, J. Leonard, and A. Patrikalakis, “SCOUT-a low cost autonomous surface platform for research in cooperative autonomy,” 2005, pp. 725–729.
  E-Print, BibTeX

  @inproceedings{curcio05aoceans,
    title = {SCOUT-a low cost autonomous surface platform for research in cooperative autonomy},
    year = {2005},
    author = {Curcio, Joseph and Leonard, John and Patrikalakis, Andrew},
    pages = {725-729},
    publisher = {IEEE},
    eprint = {https://www.academia.edu/download/37856790/5_scout_oceans05.pdf}
  }
  

2004

• M. Walter and J. Leonard, “An Experimental Investigation of Cooperative SLAM,” in Proceedings of the Fifth IFAC Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, 2004.
  BibTeX

  @inproceedings{walter04ifac,
    address = {Lisbon, Portugal},
    author = {Walter, M. and Leonard, J.},
    booktitle = {Proceedings of the Fifth {IFAC} Symposium on Intelligent
                   Autonomous Vehicles},
    month = jul,
    title = {An Experimental Investigation of Cooperative {SLAM}},
    year = {2004}
  }
  

• J. Vaganay, J. J. Leonard, J. A. Curcio, and J. S. Willcox, “Experimental Validation of the Moving Long Base Line Navigation Concept,” in Autonomous Underwater Vehicles, 2004 IEEE/OES, 2004, pp. 59–65.
  E-Print, BibTeX

  @inproceedings{vaganay04auv,
    author = {Vaganay, J. and Leonard, J.J. and Curcio, J.A. and Willcox, J.S.},
    fullauthor = {Jerome Vaganay and John J. Leonard and Joseph A. Curcio
                    and J. Scott Willcox},
    title = {Experimental Validation of the Moving Long Base Line
                    Navigation Concept},
    booktitle = {Autonomous Underwater Vehicles, 2004 IEEE/OES},
    month = jun,
    pages = {59-65},
    year = {2004},
    eprint = {https://www.researchgate.net/profile/Joseph_Curcio/publication/4143857_Experimental_validation_of_the_moving_long_base-line_navigation_concept/links/00b4953a20c5b00d20000000.pdf}
  }
  

• E. Olson, J. J. Leonard, and S. Teller, “Robust Range-only Beacon Localization,” in AUV 2004, 2004.
  BibTeX

  @inproceedings{olson04auv,
    author = {Olson, E. and Leonard, J. J. and Teller, S.},
    title = {Robust Range-only Beacon Localization},
    booktitle = {{AUV} 2004},
    month = jun,
    year = {2004}
  }
  

• H. Schmidt, J. Leonard, J. R. Edwards, and T. C. Liu, “Sub-seabed mapping using AUV-based multistatic acoustic sensing and adaptive control,” in International congress on the applications of recent advances in underwater detection and survey techniques to underwater archaeology, 2004.
  E-Print, BibTeX

  @inproceedings{schmidt04arch,
    title = {Sub-seabed mapping using AUV-based multistatic acoustic sensing and adaptive control},
    year = {2004},
    author = {Schmidt, H and Leonard, J and Edwards, JR and Liu, TC},
    journal = {International congress on the applications of recent advances in underwater detection and survey techniques to underwater archaeology},
    eprint = {http://acoustics.mit.edu/GOATS/2002publications/Arch_04_schmidt.pdf}
  }
  

• D. Moore, J. Leonard, D. Rus, and S. Teller, “Robust distributed network localization with noisy range measurements,” in Proceedings of the 2nd international conference on Embedded networked sensor systems, 2004, pp. 50–61.
  E-Print, BibTeX

  @inproceedings{moore04sensys,
    title = {Robust distributed network localization with noisy range
                      measurements},
    author = {Moore, D. and Leonard, J. and Rus, D. and Teller, S.},
    booktitle = {Proceedings of the 2nd international conference on
                      Embedded networked sensor systems},
    pages = {50--61},
    year = {2004},
    organization = {ACM},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.122.847&rep=rep1&type=pdf}
  }
  

• M. Walter and J. Leonard, “An experimental investigation of cooperative SLAM,” in Proceedings of the Fifth IFAC/EURON Symposium on Intelligent Autonomous Vehicles,(Lisbon, Portugal), 2004.
  E-Print, BibTeX

  @inproceedings{walter04iav,
    title = {An experimental investigation of cooperative SLAM},
    year = {2004},
    author = {Walter, Matthew and Leonard, John},
    journal = {Proceedings of the Fifth IFAC/EURON Symposium on Intelligent Autonomous Vehicles,(Lisbon, Portugal)},
    eprint = {http://people.csail.mit.edu/mwalter/papers/walter04.pdf}
  }
  

• M. Bosse, P. Newman, J. Leonard, and S. Teller, “Simultaneous Localization and Map Building in Large-Scale Cyclic Environments Using the Atlas Framework,” in Intl. J. of Robotics Research, 2004, vol. 23, no. 12, pp. 1113–1139.
  E-Print, BibTeX

  @inproceedings{bosse04ijrr,
    title = {Simultaneous Localization and Map Building in Large-Scale
                   Cyclic Environments Using the {Atlas} Framework},
    year = {2004},
    author = {Bosse, Michael and Newman, Paul and Leonard, John and Teller, Seth},
    journal = {Intl. J. of Robotics Research},
    volume = {23},
    number = {12},
    pages = {1113-1139},
    publisher = {SAGE Publications},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1016.7645&rep=rep1&type=pdf}
  }
  

2003

• P. Newman and J. Leonard, “Pure range-only sub-sea SLAM,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2003, vol. 2, pp. 1921–1926.
  E-Print, BibTeX

  @inproceedings{newman03icra,
    title = {Pure range-only sub-sea SLAM},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = {2003},
    month = sep,
    author = {Newman, Paul and Leonard, John},
    volume = {2},
    pages = {1921-1926},
    publisher = {IEEE},
    eprint = {http://www.robots.ox.ac.uk/~pnewman/papers/ICRA03_lblcml.pdf}
  }
  

• J. Leonard and P. Newman, “Consistent, convergent, and constant-time SLAM,” 2003, pp. 1143–1150.
  E-Print, BibTeX

  @inproceedings{leonard04ijcai,
    title = {Consistent, convergent, and constant-time SLAM},
    year = {2003},
    author = {Leonard, John and Newman, Paul},
    pages = {1143-1150},
    eprint = {http://www.robots.ox.ac.uk/~mobile/Papers/IJCAI2003.pdf}
  }
  

• J. J. Leonard and P. M. Newman, “Consistent, Convergent, and Constant-time SLAM,” in International Joint Conference on Artificial Intelligence, 2003, vol. 18, pp. 1143–1150.
  BibTeX

  @inproceedings{leonard03ijcai,
    author = {Leonard, J. J. and Newman, P. M.},
    title = {{Consistent, Convergent, and Constant-time {SLAM}}},
    booktitle = {International Joint Conference on Artificial
                   Intelligence},
    volume = {18},
    pages = {1143--1150},
    year = {2003}
  }
  

• J. Leonard, P. Newman, R. Rikoski, J. Neira, and J. Tardós, “Towards robust data association and feature modeling for concurrent mapping and localization,” Robotics Research, pp. 7–20, 2003.
  E-Print, BibTeX

  @article{leonard03isrr,
    title = {Towards robust data association and feature modeling for
                   concurrent mapping and localization},
    author = {Leonard, J. and Newman, P. and Rikoski, R. and Neira, J. and Tard{\'o}s, J.},
    journal = {Robotics Research},
    pages = {7--20},
    year = {2003},
    publisher = {Springer},
    eprint = {https://www.researchgate.net/profile/Jose_Neira/publication/2863773_Towards_Robust_Data_Association_and_Feature_Modeling_for_Concurrent_Mapping_and_Localization/links/0912f50606a5e3b48f000000/Towards-Robust-Data-Association-and-Feature-Modeling-for-Concurrent-Mapping-and-Localization.pdf}
  }
  

• M. Bosse, R. Rikoski, J. Leonard, and S. Teller, “Vanishing points and three-dimensional lines from omni-directional video,” The Visual Computer, vol. 19, no. 6, pp. 417–430, 2003.
  E-Print, BibTeX

  @article{bosse03tvc,
    title = {Vanishing points and three-dimensional lines from
                   omni-directional video},
    author = {Bosse, M. and Rikoski, R. and Leonard, J. and Teller, S.},
    journal = {The Visual Computer},
    volume = {19},
    number = {6},
    pages = {417-430},
    year = {2003},
    publisher = {Springer},
    eprint = {http://acoustics.mit.edu/GOATS/2002publications/TVC205.pdf}
  }
  

• P. Newman, M. Bosse, and J. Leonard, “Autonomous Feature-based Exploration,” in Proc. IEEE Int. Conf. Robotics and Automation, 2003, vol. 1, pp. 1234–1240.
  BibTeX

  @inproceedings{newman03bicra,
    author = {Newman, P. and Bosse, M. and Leonard, J.},
    title = {Autonomous Feature-based Exploration},
    booktitle = {Proc. {IEEE} Int. Conf. Robotics and Automation},
    volume = {1},
    pages = {1234--1240},
    organization = {IEEE},
    year = {2003}
  }
  

• M. Bosse, P. Newman, J. Leonard, and S. Teller, “An Atlas Framework for Scalable Mapping,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2003, pp. 1899–1906.
  E-Print, BibTeX

  @inproceedings{bosse03icra,
    author = {Bosse, M. and Newman, P. and Leonard, J. and Teller, S.},
    fullauthor = {Michael Bosse and Paul Newman and John Leonard and Seth
                    Teller},
    title = {An Atlas Framework for Scalable Mapping},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = {2003},
    pages = {1899--1906},
    eprint = {http://www.robots.ox.ac.uk/~pnewman/papers/ijrr_atlas_submission_20021018.pdf}
  }
  

• P. Newman, J. J. Leonard, and R. Rikoski, “Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar,” in Proceedings of the eleventh international symposium on robotics research, Sienna, Italy, 2003.
  E-Print, BibTeX

  @inproceedings{newman03isrr,
    title = {Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar},
    year = {2003},
    author = {Newman, Paul and Leonard, John J and Rikoski, Richard},
    journal = {Proceedings of the eleventh international symposium on robotics research, Sienna, Italy},
    eprint = {http://www.robots.ox.ac.uk/~mobile/Papers/ISRR2003NewmanLeonardetAl.pdf}
  }
  

• R. Rikoski and J. Leonard, “Sonar Trajectory Perception,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Taiwan, 2003, vol. 1, pp. 963–970.
  BibTeX

  @inproceedings{rikoski03icra,
    author = {Rikoski, R. and Leonard, J.},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    title = {Sonar Trajectory Perception},
    address = {Taiwan},
    volume = {1},
    pages = {963--970},
    year = {2003},
    organization = {IEEE}
  }
  

2002

• J. J. Leonard, R. R. Rikoski, P. M. Newman, and M. Bosse, “Mapping Partially Observable Features from Multiple Uncertain Vantage Points,” Intl. J. of Robotics Research, vol. 7, no. 3, pp. 943–975, Oct. 2002.
  E-Print, BibTeX

  @article{leonard02ijrr,
    author = {Leonard, John J. and Rikoski, Richard R. and Newman, Paul M. and Bosse, Michael},
    title = {Mapping Partially Observable Features from Multiple
                 Uncertain Vantage Points},
    journal = {Intl. J. of Robotics Research},
    year = {2002},
    volume = {7},
    number = {3},
    pages = {943--975},
    month = oct,
    eprint = {http://cs.krisbeevers.com/research/research_qual/08-leonard02.pdf}
  }
  

• M. Bosse, R. Rikoski, J. Leonard, and S. Teller, “Vanishing Points and 3D Lines from Omnidirectional Video,” in International Conference on Image Processing, Rochester, NY, 2002.
  BibTeX

  @inproceedings{bosse02icip,
    author = {Bosse, M. and Rikoski, R. and Leonard, J. and Teller, S.},
    title = {Vanishing Points and {3D} Lines from Omnidirectional
                   Video},
    booktitle = {International Conference on Image Processing},
    month = sep,
    address = {Rochester, NY},
    year = {2002}
  }
  

• R. Rikoski, J. Leonard, and P. Newman, “Stochastic Mapping Frameworks,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Washington, DC, 2002, pp. 426–433.
  E-Print, BibTeX

  @inproceedings{rikoski02icra,
    author = {Rikoski, R. and Leonard, J. and Newman, P.},
    title = {Stochastic Mapping Frameworks},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Washington, DC},
    month = may,
    pages = {426-433},
    year = {2002},
    publisher = {IEEE},
    eprint = {http://www.robots.ox.ac.uk/~pnewman/papers/StochasticMappingFrameworks.pdf}
  }
  

• P. Newman, J. Leonard, J. Neira, and J. Tardós, “Explore and Return: Experimental Validation of Real Time Concurrent Mapping and Localization,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Washington, DC, 2002, pp. 1802–1809.
  E-Print, BibTeX

  @inproceedings{newman02icra,
    author = {Newman, P. and Leonard, J. and Neira, J. and Tard\'os, J.},
    title = {Explore and Return: Experimental Validation of Real Time
                   Concurrent Mapping and Localization},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Washington, DC},
    month = may,
    pages = {1802-1809},
    year = {2002},
    eprint = {https://www.academia.edu/download/30721063/Newman_ICRA_2002.pdf}
  }
  

• J. D. Tardós, J. Neira, P. M. Newman, and J. J. Leonard, “Robust mapping and localization in indoor environments using sonar data,” in Intl. J. of Robotics Research, 2002, vol. 21, no. 4, pp. 311–330.
  E-Print, BibTeX

  @inproceedings{tardos02ijrr,
    title = {Robust mapping and localization in indoor environments using sonar data},
    year = {2002},
    author = {Tard{\'o}s, J.D. and Neira, J. and Newman, P.M. and Leonard, J.J.},
    journal = {Intl. J. of Robotics Research},
    month = apr,
    volume = {21},
    number = {4},
    pages = {311-330},
    publisher = {SAGE Publications},
    eprint = {http://acoustics.mit.edu/GOATS/2002publications/8.pdf}
  }
  

• M. Stojanovic, L. Freitag, J. Leonard, and P. A. N. P. Newman, “A network protocol for multiple AUV localization,” 2002, vol. 1, pp. 604–611.
  E-Print, BibTeX

  @inproceedings{stojanovic02oceans,
    title = {A network protocol for multiple AUV localization},
    year = {2002},
    author = {Stojanovic, M and Freitag, L and Leonard, J and Newman, PANP},
    volume = {1},
    pages = {604-611},
    publisher = {IEEE},
    eprint = {http://web.mit.edu/millitsa/www/resources/pdfs/map.pdf}
  }
  

• J. W. Fenwick, P. M. Newman, and J. J. Leonard, “Cooperative concurrent mapping and localization,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2002, vol. 2, pp. 1810–1817.
  E-Print, BibTeX

  @inproceedings{fenwick02icra,
    title = {Cooperative concurrent mapping and localization},
    year = {2002},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    author = {Fenwick, John W and Newman, Paul M and Leonard, John J},
    volume = {2},
    pages = {1810-1817},
    publisher = {IEEE},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.6.9835&rep=rep1&type=pdf}
  }
  

2001

• J. J. Leonard, P. M. Newman, J. W. Fenwick, and R. J. Rikoski, “Concurrent Mapping and Localization for Multiple Autonomous Underwater Vehicles,” in GOATS Workshop, 2001.
  E-Print, BibTeX

  @inproceedings{leonard01nato,
    title = {Concurrent Mapping and Localization for Multiple
                   Autonomous Underwater Vehicles},
    booktitle = {{GOATS} Workshop},
    author = {Leonard, J. J. and Newman, P. M. and Fenwick, J. W. and Rikoski, R. J.},
    month = aug,
    year = {2001},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/Leonard01nato.pdf}
  }
  

• J. J. Leonard and R. Rikoski, “Incorporation of delayed decision making into stochastic mapping,” in Experimental Robotics VII, D. Rus and S. Singh, Eds. Springer-Verlag, 2001.
  BibTeX

  @incollection{leonard01iser,
    title = {Incorporation of delayed decision making into stochastic
                   mapping},
    author = {Leonard, J. J. and Rikoski, R.},
    booktitle = {Experimental Robotics VII},
    editor = {Rus, D. and Singh, S.},
    series = {Lecture Notes in Control and Information Sciences},
    publisher = {Springer-Verlag},
    year = {2001}
  }
  

• J. J. Leonard and H. J. S. Feder, “Decoupled stochastic mapping [for mobile robot & auv navigation],” in IEEE Journal of Oceanic Engineering, 2001, vol. 26, no. 4, pp. 561–571.
  E-Print, BibTeX

  @inproceedings{leonard01ijoe,
    title = {Decoupled stochastic mapping [for mobile robot & auv navigation]},
    year = {2001},
    author = {Leonard, John J and Feder, Hans Jacob S},
    journal = {IEEE Journal of Oceanic Engineering},
    volume = {26},
    number = {4},
    pages = {561-571},
    publisher = {IEEE},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.36.6457&rep=rep1&type=pdf}
  }
  

• J. J. Leonard and H. J. S. Feder, “Decoupled stochastic mapping,” IEEE J. of Oceanic Eng., vol. 26, no. 4, pp. 561–571, 2001.
  BibTeX

  @article{leonard01ieeejoe,
    author = {Leonard, J. J. and Feder, H. J. S.},
    title = {Decoupled stochastic mapping},
    journal = {{IEEE} J. of Oceanic Eng.},
    volume = {26},
    number = {4},
    pages = {561-571},
    year = {2001}
  }
  

• J. J. Leonard and R. J. Rikoski, “Incorporation of delayed decision making into stochastic mapping,” 2001, pp. 533–542.
  E-Print, BibTeX

  @inproceedings{leonard01er,
    title = {Incorporation of delayed decision making into stochastic mapping},
    year = {2001},
    author = {Leonard, John J and Rikoski, Richard J},
    pages = {533-542},
    publisher = {Springer, Berlin, Heidelberg},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.537.1165&rep=rep1&type=pdf}
  }
  

• J. J. Leonard, R. Carpenter, and H. J. S. Feder, “Stochastic mapping using forward look sonar,” Robotica, vol. 19, pp. 467–480, 2001.
  E-Print, BibTeX

  @article{leonard01robotica,
    author = {Leonard, J. J. and Carpenter, R. and Feder, H. J. S.},
    title = {Stochastic mapping using forward look sonar},
    journal = {Robotica},
    year = {2001},
    volume = {19},
    pages = {467--480},
    eprint = {https://apps.dtic.mil/sti/pdfs/ADA605711.pdf}
  }
  

2000

• J. H. Lim and J. J. Leonard, “Mobile robot relocation from echolocation constraints,” IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 22, no. 9, pp. 1035–1041, Sep. 2000.
  BibTeX

  @article{lim00pami,
    author = {Lim, J. H. and Leonard, J. J.},
    title = {Mobile robot relocation from echolocation constraints},
    journal = {{IEEE} Trans. Pattern Analysis and Machine Intelligence},
    volume = {22},
    number = {9},
    month = sep,
    pages = {1035-1041},
    year = {2000}
  }
  

• J. J. Leonard, “Cooperative mapping and navigation for multiple unmanned underwater vehicles,” in International Unmanned Undersea Vehicle Symposium, Naval Undersea Warfare Center, Newport, RI, 2000.
  BibTeX

  @inproceedings{leonard00uuv,
    author = {Leonard, J. J.},
    title = {Cooperative mapping and navigation for multiple unmanned
                   underwater vehicles},
    booktitle = {International Unmanned Undersea Vehicle Symposium, Naval
                   Undersea Warfare Center},
    address = {Newport, RI},
    month = apr,
    year = {2000}
  }
  

• J. J. Leonard, “Large-scale concurrent mapping and localization,” in Proceedings of SPIE, 2000, vol. 4196, p. 370.
  BibTeX

  @inproceedings{leonard00spie,
    title = {Large-scale concurrent mapping and localization},
    author = {Leonard, J. J.},
    booktitle = {Proceedings of SPIE},
    volume = {4196},
    pages = {370},
    year = {2000}
  }
  

• J. J. Leonard and H. J. S. Feder, “A computationally efficient method for large-scale concurrent mapping and localization,” Snowbird, Utah, 2000, pp. 169–176.
  E-Print, BibTeX

  @inproceedings{leonard00rr,
    title = {A computationally efficient method for large-scale concurrent mapping and localization},
    year = {2000},
    author = {Leonard, John J and Feder, Hans Jacob S},
    pages = {169-176},
    address = {Snowbird, Utah},
    editor = {Koditschek, D and Hollerbach, J.},
    publisher = {Springer Verlag},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.36.9767&rep=rep1&type=pdf}
  }
  

• J. Leonard and H. Feder, “Experimental analysis of adaptive concurrent mapping and localization using sonar,” in Experimental Robotics VI, 2000, vol. 250, pp. 297–306.
  E-Print, BibTeX

  @inproceedings{leonard00er,
    title = {Experimental analysis of adaptive concurrent mapping and localization using sonar},
    year = {2000},
    author = {Leonard, John and Feder, Hans},
    journal = {Experimental Robotics VI},
    pages = {297-306},
    publisher = {Springer-Verlag},
    volume = {250},
    editor = {Corke, Peter and Trevelyan, James},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/Leonard00iser.pdf}
  }
  

• A. A. Bennett and J. J. Leonard, “A behavior-based approach to adaptive feature detection and following with autonomous underwater vehicles,” in IEEE Journal of Oceanic Engineering, 2000, vol. 25, no. 2, pp. 213–226.
  BibTeX

  @inproceedings{bennet00ijoe,
    title = {A behavior-based approach to adaptive feature detection and following with autonomous underwater vehicles},
    year = {2000},
    author = {Bennett, Andrew A and Leonard, John J},
    journal = {IEEE Journal of Oceanic Engineering},
    volume = {25},
    number = {2},
    pages = {213-226},
    publisher = {IEEE}
  }
  

• T. F. Fulton, C. J. Cassidy, R. G. Stokey, and J. J. Leonard, “Navigation sensor data fusion for the AUV REMUS,” in Proceedings of the Symposium on Underwater Robotic Technology, World Automation Congress, Hawaii, 2000.
  BibTeX

  @inproceedings{fulton00wac,
    author = {Fulton, T. F. and Cassidy, C. J. and Stokey, R. G. and Leonard, J. J.},
    title = {Navigation sensor data fusion for the {AUV REMUS}},
    booktitle = {Proceedings of the Symposium on Underwater Robotic
                   Technology, World Automation Congress},
    address = {Hawaii},
    year = {2000}
  }
  

• J. H. Lim and J. J. Leonard, “Mobile robot relocation from echolocation constraints,” in IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000, vol. 22, no. 9, pp. 1035–1041.
  E-Print, BibTeX

  @inproceedings{lim2000tpam,
    title = {Mobile robot relocation from echolocation constraints},
    year = {2000},
    author = {Lim, Jong Hwan and Leonard, John J.},
    journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
    volume = {22},
    number = {9},
    pages = {1035-1041},
    publisher = {IEEE},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.16.8485&rep=rep1&type=pdf}
  }
  

1999

• A. B. Bennett and J. J. Leonard, “Feature-relative navigation of an autonomous underwater vehicle,” in Proc. Int. Symp. on Unmanned Untethered Submersible Technology, 1999.
  BibTeX

  @inproceedings{bennett99uust,
    author = {Bennett, A. B. and Leonard, J. J.},
    title = {Feature-relative navigation of an autonomous underwater
                   vehicle},
    booktitle = {Proc. Int. Symp. on Unmanned Untethered Submersible
                   Technology},
    month = aug,
    year = {1999}
  }
  

• J. J. Leonard, R. N. Carpenter, and H. J. S. Feder, “Stochastic Mapping Using Forward Look Sonar,” in International Conference on Field and Service Robotics, Pittsburgh, Pennsylvania, 1999, pp. 69–74.
  BibTeX

  @inproceedings{leonard99fsr,
    author = {Leonard, J. J. and Carpenter, R. N. and Feder, H. J. S.},
    title = {Stochastic Mapping Using Forward Look Sonar},
    booktitle = {International Conference on Field and Service Robotics},
    address = {Pittsburgh, Pennsylvania},
    pages = {69-74},
    month = aug,
    year = {1999}
  }
  

• H. J. S. Feder and J. J. Leonard, “Decoupled Stochastic Mapping, Part II: Performance Analysis,” in IEEE Transactions on Robotics and Automation, 1999.
  BibTeX

  @inproceedings{feder99tra,
    title = {Decoupled Stochastic Mapping, Part II: Performance Analysis},
    year = {1999},
    author = {Feder, Hans Jacob S and Leonard, John J},
    journal = {IEEE Transactions on Robotics and Automation}
  }
  

• H. J. S. Feder, J. J. Leonard, and C. M. Smith, “Adaptive Mobile Robot Navigation and Mapping,” in The International Journal of Robotics Research, 1999, vol. 18, no. 7, pp. 650–668.
  E-Print, BibTeX

  @inproceedings{feder99ijrr,
    title = {Adaptive Mobile Robot Navigation and Mapping},
    year = {1999},
    author = {Feder, Hans Jacob S and Leonard, John J and Smith, Christopher M},
    journal = {The International Journal of Robotics Research},
    volume = {18},
    number = {7},
    pages = {650-668},
    publisher = {SAGE Publications},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.29.6757&rep=rep1&type=pdf}
  }
  

• J. Neira, J. D. Tardós, J. Horn, and G. Schmidt, “Fusing range and intensity images for mobile robot localization,” in IEEE Transactions on robotics and automation, 1999, vol. 15, no. 1, pp. 76–84.
  E-Print, BibTeX

  @inproceedings{neira99tra,
    title = {Fusing range and intensity images for mobile robot localization},
    year = {1999},
    author = {Neira, José and Tardós, Juan D and Horn, Joachim and Schmidt, Günther},
    journal = {IEEE Transactions on robotics and automation},
    volume = {15},
    number = {1},
    pages = {76-84},
    publisher = {IEEE},
    eprint = {http://www.academia.edu/download/48921541/Fusing_range_and_intensity_images_for_mo20160917-30545-g62kp5.pdf}
  }
  

1998

• C. M. Smith, H. J. S. Feder, and J. J. Leonard, “Multiple Target Tracking with Navigation Uncertainty,” in IEEE Int Conference on Decision and Control (CDC), Tampa, FL, 1998, vol. 1, pp. 760–761.
  BibTeX

  @conference{smith98cdc,
    title = {Multiple Target Tracking with Navigation Uncertainty},
    booktitle = {{IEEE} Int Conference on Decision and Control (CDC)},
    year = {1998},
    author = {Smith, Christopher M and Feder, Hans Jacob S and Leonard, John J},
    volume = {1},
    pages = {760-761},
    month = dec,
    publisher = {IEEE},
    address = {Tampa, FL}
  }
  

• H. J. S. Feder, J. J. Leonard, and C. M. Smith, “Adaptive concurrent mapping and localization using sonar,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Victoria, B.C., Canada, 1998, vol. 2, pp. 892–898.
  E-Print, BibTeX

  @inproceedings{feder98iros,
    title = {Adaptive concurrent mapping and localization using sonar},
    year = {1998},
    author = {Feder, Hans Jacob S and Leonard, John J and Smith, Christopher M},
    volume = {2},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems
                   (IROS)},
    pages = {892-898},
    address = {Victoria, B.C., Canada},
    month = oct,
    publisher = {IEEE},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.644.4040&rep=rep1&type=pdf}
  }
  

• J. Vaganay, J. G. Bellingham, and J. J. Leonard, “Comparison of Fix Computation and Filtering for Autonomous Acoustic Navigation,” International Journal of Systems Science, vol. 29, no. 10, pp. 1111–1122, Oct. 1998.
  BibTeX

  @article{vaganay98ijss,
    author = {Vaganay, J. and Bellingham, J. G. and Leonard, J. J.},
    title = {Comparison of Fix Computation and Filtering for Autonomous
                 Acoustic Navigation},
    journal = {International Journal of Systems Science},
    volume = {29},
    number = {10},
    pages = {1111-1122},
    month = oct,
    year = {1998}
  }
  

• H. J. S. Feder, J. J. Leonard, and C. M. Smith, “Adaptive Sensing for Terrain Aided Navigation,” in IEEE Oceans, Nice, France, 1998, pp. 336–341.
  E-Print, BibTeX

  @inproceedings{feder98oceans,
    title = {Adaptive Sensing for Terrain Aided Navigation},
    booktitle = {IEEE Oceans},
    pages = {336-341},
    publisher = {IEEE},
    address = {Nice, France},
    month = sep,
    year = {1998},
    author = {Feder, HJS and Leonard, JJ and Smith, CM},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/Feder98oceans.pdf}
  }
  

• J. J. Leonard and H. J. S. Feder, “Feature localization and classification from echolocation constraints with navigation uncertainty,” in The Journal of the Acoustical Society of America, 1998, vol. 104, no. 3, pp. 1837–1838.
  BibTeX

  @inproceedings{leonard98jasa,
    title = {Feature localization and classification from echolocation constraints with navigation uncertainty},
    year = {1998},
    author = {Leonard, John J and Feder, Hans Jacob S},
    journal = {The Journal of the Acoustical Society of America},
    volume = {104},
    number = {3},
    pages = {1837-1838},
    publisher = {Acoustical Society of America}
  }
  

• C. M. Smith, J. J. Leonard, and H. J. S. Feder, “Making Difficult Decisions Autonomously: The Impact of Integrated Mapping and Navigation,” 1998, pp. 123–132.
  E-Print, BibTeX

  @inproceedings{smith98auv,
    title = {Making Difficult Decisions Autonomously: The Impact of Integrated Mapping and Navigation},
    year = {1998},
    author = {Smith, Christopher M and Leonard, John J and Feder, Hans Jacob S},
    pages = {123-132},
    publisher = {IEEE AUV},
    eprint = {https://marinerobotics.mit.edu/sites/default/files/Smith98auv.pdf}
  }
  

• H. J. S. Feder, J. J. Leonard, and C. M. Smith, “Incorporating Environmental Measurements in Navigation,” 1998, pp. 115–122.
  E-Print, BibTeX

  @conference{feder98auv,
    title = {Incorporating Environmental Measurements in Navigation},
    year = {1998},
    author = {Feder, Hans Jacob S and Leonard, John J and Smith, Christopher M},
    pages = {115-122},
    publisher = {IEEE AUV},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.225.4691&rep=rep1&type=pdf}
  }
  

1997

• C. M. Smith, J. J. Leonard, A. A. Bennett, and C. Shaw, “Feature-based concurrent mapping and localization for AUVs,” in OCEANS ’97. MTS/IEEE Conference Proceedings, 1997, vol. 2, pp. 896–901.
  E-Print, DOI, BibTeX

  @inproceedings{smith97oceans,
    author = {Smith, C.M. and Leonard, J.J. and Bennett, A.A. and Shaw, C.},
    booktitle = {OCEANS '97. MTS/IEEE Conference Proceedings},
    title = {Feature-based concurrent mapping and localization for
                   AUVs},
    year = {1997},
    month = oct,
    volume = {2},
    pages = {896-901},
    doi = {10.1109/OCEANS.1997.624111},
    eprint = {https://apps.dtic.mil/dtic/tr/fulltext/u2/a603683.pdf}
  }
  

• J. J. Leonard and C. M. Smith, “Sensor data fusion in marine robotics,” in Proceedings of the International Society of Offshore and Polar Engineering, 1997.
  E-Print, BibTeX

  @inproceedings{leonard97isope,
    author = {Leonard, J. J. and Smith, C. M.},
    title = {Sensor data fusion in marine robotics},
    booktitle = {Proceedings of the International Society of Offshore and
                   Polar Engineering},
    year = {1997},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.225.5479&rep=rep1&type=pdf}
  }
  

• C. M. Smith and J. J. Leonard, “A multiple-hypothesis approach to concurrent mapping and localization for autonomous underwater vehicles,” in International Conference on Field and Service Robotics, 1997, pp. 237–244.
  E-Print, BibTeX

  @inproceedings{smith97fsr,
    title = {A multiple-hypothesis approach to concurrent mapping and localization for autonomous underwater vehicles},
    year = {1997},
    author = {Smith, Christopher M and Leonard, John J},
    pages = {237-244},
    booktitle = {International Conference on Field and Service Robotics},
    publisher = {Springer, London},
    eprint = {https://marinerobotics.mit.edu/sites/default/files/Smith97fsr.pdf}
  }
  

• B. A. Moran, J. J. Leonard, and C. Chryssostomidis, “Curved Shape Reconstruction Using Multiple Hypothesis Tracking,” IEEE journal of Oceanic Engineering, vol. 22, no. 4, pp. 625–638, 1997.
  E-Print, BibTeX

  @article{moran97ijoe,
    title = {Curved Shape Reconstruction Using Multiple Hypothesis Tracking},
    journal = {IEEE journal of Oceanic Engineering},
    year = {1997},
    author = {Moran, Bradley A and Leonard, John J and Chryssostomidis, Chryssostomos},
    volume = {22},
    number = {4},
    pages = {625-638},
    publisher = {IEEE},
    eprint = {https://www.researchgate.net/profile/C_Chryssostomidis/publication/3231032_Curved_shape_reconstruction_using_multiple_hypothesis_tracking/links/545134910cf285a067c685fc/Curved-shape-reconstruction-using-multiple-hypothesis-tracking.pdf}
  }
  

• C. M. Smith, J. J. Leonard, A. A. Bennett, and C. Shaw, “Concurrent Mapping and Localization for Autonomous Underwater Vehicles,” in Undersea Defence Technology, 1997, pp. 338–342.
  E-Print, BibTeX

  @conference{smith98udt,
    title = {Concurrent Mapping and Localization for Autonomous Underwater Vehicles},
    pages = {338-342},
    year = {1997},
    author = {Smith, Christopher M and Leonard, John J and Bennett, Andrew A and Shaw, Christopher},
    booktitle = {Undersea Defence Technology},
    eprint = {https://apps.dtic.mil/dtic/tr/fulltext/u2/a607879.pdf}
  }
  

• S. T. Tuohy, J. J. Leonard, and J. G. Bellingham, “Map based navigation for autonomous underwater vehicles,” in Oceanographic Literature Review, 1997, vol. 12, no. 44, p. 1571.
  BibTeX

  @inproceedings{tuohy97olr,
    title = {Map based navigation for autonomous underwater vehicles},
    year = {1997},
    author = {Tuohy, ST and Leonard, JJ and Bellingham, JG},
    journal = {Oceanographic Literature Review},
    volume = {12},
    number = {44},
    pages = {1571}
  }
  

1996

• J. Vaganay, J. G. Bellingham, and J. J. Leonard, “Outlier Rejection for Autonomous Acoustic Navigation,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 1996, pp. 2174–2181.
  E-Print, BibTeX

  @inproceedings{vaganay96icra,
    author = {Vaganay, J. and Bellingham, J. G. and Leonard, J. J.},
    title = {Outlier Rejection for Autonomous Acoustic Navigation},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = apr,
    pages = {2174-2181},
    year = {1996},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/Vaganay96icra.pdf}
  }
  

• S. T. Tuohy, J. J. Leonard, J. G. Bellingham, N. M. Patrikalakis, and C. Chryssostomidis, “Map Based Navigation for Autonomous Underwater Vehicles,” International Journal of Offshore and Polar Engineering, vol. 6, no. 1, pp. 9–18, Mar. 1996.
  BibTeX

  @article{tuohy95ijope,
    author = {Tuohy, S. T. and Leonard, J. J. and Bellingham, J. G. and Patrikalakis, N. M. and Chryssostomidis, C.},
    title = {Map Based Navigation for Autonomous Underwater Vehicles},
    journal = {International Journal of Offshore and Polar Engineering},
    month = mar,
    year = {1996},
    volume = {6},
    number = {1},
    pages = {9-18}
  }
  

• J. H. Kim, B. A. Moran, J. J. Leonard, J. G. Bellingham, and S. T. Tuohy, “Experiments in remote monitoring and control of autonomous underwater vehicles,” in IEEE Oceans, 1996, pp. 411–416.
  BibTeX

  @inproceedings{kim96oceans,
    author = {Kim, J. H. and Moran, B. A. and Leonard, J. J. and Bellingham, J. G. and Tuohy, S. T.},
    title = {Experiments in remote monitoring and control of autonomous
                   underwater vehicles},
    booktitle = {IEEE Oceans},
    pages = {411-416},
    year = {1996}
  }
  

• A. A.Bennett and J. J. Leonard, “Autonomous mapping with an AUV: an approach for ground truthing of remote sensing data,” in OCEANS’96. MTS/IEEE.’Prospects for the 21st Century’. Conference Proceedings, 1996, vol. 3, pp. 1099–1104.
  BibTeX

  @inproceedings{bennett96oceans,
    title = {Autonomous mapping with an {AUV}: an approach for ground
                      truthing of remote sensing data},
    author = {A.Bennett, A. and Leonard, J. J.},
    booktitle = {OCEANS'96. MTS/IEEE.'Prospects for the 21st Century'.
                      Conference Proceedings},
    volume = {3},
    pages = {1099--1104},
    year = {1996},
    organization = {IEEE}
  }
  

1995

• D. K. Atwood, J. J. Leonard, J. G. Bellingham, and B. A. Moran, “An acoustic navigation system for multi-vehicle operations,” in International Symposium on Unmanned Untethered Submersible Technology, 1995, pp. 202–208.
  BibTeX

  @inproceedings{atwood95uust,
    title = {An acoustic navigation system for multi-vehicle operations},
    month = sep,
    year = {1995},
    author = {Atwood, DK and Leonard, JJ and Bellingham, JG and Moran, BA},
    journal = {International Symposium on Unmanned Untethered Submersible Technology},
    pages = {202-208},
    publisher = {University of New Hampshire-Marine Systems}
  }
  

• J. J. Leonard, S. T. Tuohy, J. G. Bellingham, B. A. Moran, J. H. Kim, H. Schmidt, N. M. Patrikalakis, and C. Chryssostomidis, “Virtual Environments for AUV Development and Ocean Exploration,” in Proc. Int. Symp. on Unmanned Untethered Submersible Technology, 1995, pp. 436–443.
  BibTeX

  @inproceedings{leonard95uust,
    author = {Leonard, J. J. and Tuohy, S. T. and Bellingham, J. G. and Moran, B. A. and Kim, J. H. and Schmidt, H. and Patrikalakis, N. M. and Chryssostomidis, C.},
    title = {Virtual Environments for {AUV} Development and Ocean
                   Exploration},
    booktitle = {Proc. Int. Symp. on Unmanned Untethered Submersible
                   Technology},
    pages = {436-443},
    month = sep,
    year = {1995}
  }
  

• A. B. Bennett, J. J. Leonard, and J. G. Bellingham, “Bottom Following for Survey Class Autonomous Underwater Vehicles,” in Proc Int Symp on Unmanned Untethered Submersible Technology, 1995, pp. 327–336.
  BibTeX

  @conference{bennett95uust,
    title = {Bottom Following for Survey Class Autonomous Underwater Vehicles},
    booktitle = {Proc Int Symp on Unmanned Untethered Submersible Technology},
    year = {1995},
    author = {Bennett, A B and Leonard, J J and Bellingham, J G},
    month = sep,
    pages = {327-336}
  }
  

• J. J. Leonard, B. A. Moran, I. J. Cox, and M. L. Miller, “Underwater Sonar Data Fusion Using an Efficient Multiple Hypothesis Algorithm,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 1995, pp. 2995–3002.
  BibTeX

  @inproceedings{leonard95icra,
    author = {Leonard, J. J. and Moran, B. A. and Cox, I. J. and Miller, M. L.},
    title = {Underwater Sonar Data Fusion Using an Efficient Multiple
                   Hypothesis Algorithm},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    pages = {2995-3002},
    month = may,
    year = {1995}
  }
  

• J. G. Bellingham, J. J. Leonard, J. Vaganay, C. Goudey, D. Atwood, T. Consi, J. Bales, H. Schmidt, and C. Chryssostomidis, “AUV Operations in the Arctic,” in Proceedings of the Sea Ice Mechanics and Arctic Modeling Workshop, Anchorage, Alaska, USA, 1995, pp. 25–28.
  E-Print, BibTeX

  @inproceedings{bellingham95simam,
    author = {Bellingham, J. G. and Leonard, J. J. and Vaganay, J. and Goudey, C. and Atwood, D. and Consi, T. and Bales, J. and Schmidt, H. and Chryssostomidis, C.},
    title = {{AUV} Operations in the Arctic},
    booktitle = {Proceedings of the Sea Ice Mechanics and Arctic Modeling
                   Workshop},
    address = {Anchorage, Alaska, USA},
    month = apr,
    year = {1995},
    pages = {25-28},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/Bellingham95arctic.pdf}
  }
  

• J. H. Kim, J. J. Leonard, J. G. Bellingham, B. A. Moran, and S. T. Tuohy, “Remote Communication for Monitoring and Control of Autonomous Underwater Vehicles,” in IEEE OCEANS, 1995, vol. 96, p. 1.
  E-Print, BibTeX

  @inproceedings{kim95oceans,
    title = {Remote Communication for Monitoring and Control of Autonomous Underwater Vehicles},
    year = {1995},
    author = {Kim, JH and Leonard, JJ and Bellingham, JG and Moran, BA and Tuohy, ST},
    journal = {IEEE OCEANS},
    volume = {96},
    pages = {1},
    eprint = {https://marinerobotics.mit.edu/sites/default/files/Kim96oceans.pdf}
  }
  

• N. M. Patrikalakis, C. Chryssostomidis, S. T. Tuohy, J. G. Bellingham, J. J. Leonard, J. W. Bales, and J. W. Yoon., “Virtual environments for ocean exploration and visualization,” in Workshop on Computer Graphics Technology in the Exploration of the Sea, Rostock, Germany, 1995.
  BibTeX

  @inproceedings{patrikalakis95graphics,
    author = {Patrikalakis, N. M. and Chryssostomidis, C. and Tuohy, S. T. and Bellingham, J. G. and Leonard, J. J. and Bales, J. W. and Yoon., J. W.},
    title = {Virtual environments for ocean exploration and
                   visualization},
    booktitle = {Workshop on Computer Graphics Technology in the
                   Exploration of the Sea,},
    address = {Rostock, Germany},
    year = {1995}
  }
  

1994

• J. G. Bellingham and J. J. Leonard, “Task Configuration with Layered Control,” in Proceedings of the IARP 2nd Workshop on Mobile Robots for Subsea Environments, Monterey, CA, USA, 1994, pp. 193–302.
  E-Print, BibTeX

  @inproceedings{bellingham94iarp,
    author = {Bellingham, J. G. and Leonard, J. J.},
    title = {Task Configuration with Layered Control},
    editors = {Lee, M. J. and McGhee, R. B.},
    booktitle = {Proceedings of the IARP 2nd Workshop on Mobile Robots for
                   Subsea Environments},
    address = {Monterey, CA, USA},
    month = may,
    pages = {193-302},
    year = {1994},
    eprint = {https://www.researchgate.net/profile/James_Bellingham2/publication/247698746_Task_configuration_with_layered_control/links/55188c780cf2d70ee27b3caf.pdf}
  }
  

• I. Cox and J. Leonard, “Modeling a dynamic environment using a Bayesian multiple hypothesis approach,” Artificial Intelligence, pp. 311–344, Apr. 1994.
  BibTeX

  @article{cox94ai,
    title = {Modeling a dynamic environment using a {B}ayesian multiple
                    hypothesis approach},
    author = {Cox, I. and Leonard, J.},
    fullauthor = {Ingemar J Cox and John J Leonard},
    journal = {Artificial Intelligence},
    pages = {311-344},
    year = {1994},
    month = apr,
    c-hunter = {This paper proposes the Multi Hypothesis Tracker (MHT) as
                    a way of dealing both with data-association uncertainty and
                    with noise uncertainty in mapping. The hypothesis growth is
                    handled via several methods. The new method can deal with
                    dynamic or static environemnts, as an EKF is run on each
                    feature.}
  }
  

• J. Bellingham, C. Goudey, T. Consi, J. Bales, D. Atwood, J. J. Leonard, and C. Chryssostomidis, “Odyssey II: A Second Generation Survey AUV,” in IEEE Symposium on Autonomous Underwater Vehicle Technology, Cambridge, MA, 1994, pp. 148–156.
  E-Print, BibTeX

  @inproceedings{bellingham94auv,
    author = {Bellingham, J. and Goudey, C. and Consi, T. and Bales, J. and Atwood, D. and Leonard, J.J. and Chryssostomidis, C.},
    year = {1994},
    title = {Odyssey {II}: A Second Generation Survey {AUV}},
    booktitle = {IEEE Symposium on Autonomous Underwater Vehicle
                   Technology},
    address = {Cambridge, MA},
    pages = {148-156},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/Bellingham94auv.pdf}
  }
  

• I. J. Cox and J. J. Leonard, “Unsupervised Learning for Mobile Robot Navigation using Probabilistic Data Association,” in Proceedings of the workshop on Computational learning theory and natural learning systems (vol 2): intersections between theory and experiment: intersections between theory and experiment, 1994, pp. 297–319.
  BibTeX

  @conference{cox94cltnls,
    title = {Unsupervised Learning for Mobile Robot Navigation using Probabilistic Data Association},
    booktitle = {Proceedings of the workshop on Computational learning theory and natural learning systems (vol 2): intersections between theory and experiment: intersections between theory and experiment},
    year = {1994},
    author = {Cox, Ingemar J and Leonard, John J},
    pages = {297-319}
  }
  

• I. J. Cox and J. J. Leonard, “Modeling a dynamic environment using a Bayesian multiple hypothesis approach,” Artificial Intelligence, vol. 66, no. 2, pp. 311–344, 1994.
  BibTeX

  @article{cox95ijai,
    title = {Modeling a dynamic environment using a Bayesian multiple hypothesis approach},
    year = {1994},
    author = {Cox, Ingemar J and Leonard, John J},
    journal = {Artificial Intelligence},
    volume = {66},
    number = {2},
    pages = {311-344},
    publisher = {Elsevier}
  }
  

1993

• J. G. Bellingham, C. Chryssostomidis, M. Deffenbaugh, J. J. Leonard, and H. Schmidt, “Arctic Under-Ice Survey Operations,” in Proc Int Symp on Unmanned Untethered Submersible Technology, 1993, pp. 50–59.
  BibTeX

  @conference{bellingham93uust,
    title = {Arctic Under-Ice Survey Operations},
    booktitle = {Proc Int Symp on Unmanned Untethered Submersible Technology},
    year = {1993},
    author = {Bellingham, James G and Chryssostomidis, C and Deffenbaugh, M and Leonard, JJ and Schmidt, H},
    pages = {50-59},
    publisher = {UNIVERSITY OF NEW HAMPSHIRE-MARINE SYSTEMS}
  }
  

• J. J. Leonard, B. A. Moran, I. J. Cox, and M. L. Miller, “Underwater Sonar Data Fusion Using all Efficient Multiple Hypothesis Algorithm,” in IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 1993, vol. 1, no. 3, pp. 2995–2995.
  BibTeX

  @inproceedings{leonard93icra,
    title = {Underwater Sonar Data Fusion Using all Efficient Multiple Hypothesis Algorithm},
    year = {1993},
    author = {Leonard, JJ and Moran, BA and Cox, IJ and Miller, ML},
    journal = {IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION},
    volume = {1},
    number = {3},
    pages = {2995-2995},
    publisher = {IEEE}
  }
  

• J. J. Leonard and J. G. Bellingham, “Directed-sensing strategies for feature-relative navigation,” in Proc. SPIE, 1993, vol. 2059, pp. 120–129.
  BibTeX

  @inproceedings{leonard93spie,
    title = {Directed-sensing strategies for feature-relative navigation},
    year = {1993},
    author = {Leonard, John J and Bellingham, James G},
    volume = {2059},
    pages = {120-129},
    journal = {Proc. {SPIE}},
    publisher = {International Society for Optics and Photonics}
  }
  

• J. J. Leonard, C. Chryssostomidis, and B. A. Moran, “Shape reconstruction from high‐frequency sonar data for robotic tasks,” in The Journal of the Acoustical Society of America, 1993, vol. 93, no. 4, pp. 2340–2340.
  BibTeX

  @inproceedings{leonard94jasa,
    title = {Shape reconstruction from high‐frequency sonar data for robotic tasks},
    year = {1993},
    author = {Leonard, John J and Chryssostomidis, Chryssostomos and Moran, Bradley A},
    journal = {The Journal of the Acoustical Society of America},
    volume = {93},
    number = {4},
    pages = {2340-2340},
    publisher = {Acoustical Society of America}
  }
  

• B. A. Moran, J. J. Leonard, and C. Chryssostomidis, “Geometric Shape from Sonar Ranging,” in Proc. Int. Symp. on Unmanned Untethered Submersible Technology, 1993, pp. 370–383.
  BibTeX

  @inproceedings{moran93uust,
    author = {Moran, B. A. and Leonard, J. J. and Chryssostomidis, C.},
    title = {Geometric Shape from Sonar Ranging},
    booktitle = {Proc. Int. Symp. on Unmanned Untethered Submersible
                   Technology},
    pages = {370-383},
    year = {1993}
  }
  

• S. T. Tuohy, N. M. Patrikalakis, J. J. Leonard, J. G. Bellingham, and C. Chryssostomidis, “AUV navigation using geophysical maps with uncertainty,” in INTERNATIONAL SYMPOSIUM ON UNMANNED UNTETHERED SUBMERSIBLE TECHNOLOGY, 1993, pp. 265–265.
  E-Print, BibTeX

  @inproceedings{tuohy93uust,
    title = {AUV navigation using geophysical maps with uncertainty},
    year = {1993},
    author = {Tuohy, S T and Patrikalakis, N M and Leonard, J J and Bellingham, J G and Chryssostomidis, C},
    journal = {INTERNATIONAL SYMPOSIUM ON UNMANNED UNTETHERED SUBMERSIBLE TECHNOLOGY},
    pages = {265-265},
    publisher = {UNIVERSITY OF NEW HAMPSHIRE-MARINE SYSTEMS},
    eprint = {https://marinerobotics.mit.edu/sites/default/files/Tuohy93uust.pdf}
  }
  

1992

• J. J. Leonard, H. F. Durrant-Whyte, and I. J. Cox, “Dynamic Map Building for an Autonomous Mobile Robot,” Intl. J. of Robotics Research, vol. 11, no. 4, pp. 286–298, Aug. 1992.
  E-Print, BibTeX

  @article{leonard92ijrr,
    title = {Dynamic Map Building for an Autonomous Mobile Robot},
    year = {1992},
    author = {Leonard, John J and Durrant-Whyte, Hugh F and Cox, Ingemar J},
    journal = {Intl. J. of Robotics Research},
    month = aug,
    volume = {11},
    number = {4},
    pages = {286-298},
    publisher = {Sage Publications},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.917.6815&rep=rep1&type=pdf}
  }
  

• J. J. Leonard and H. F. Durrant-Whyte, “A Sonar Sensor Model,” 1992, pp. 13–50.
  BibTeX

  @inproceedings{leonard92dssmrn,
    title = {A Sonar Sensor Model},
    year = {1992},
    author = {Leonard, John J and Durrant-Whyte, Hugh F},
    pages = {13-50},
    publisher = {Springer, Boston, MA}
  }
  

• J. J. Leonard and H. F. Durrant-Whyte, Directed Sonar Sensing for Mobile Robot Navigation. Boston: Kluwer Academic Publishers, 1992.
  BibTeX

  @book{leonard92book,
    author = {Leonard, J. J. and Durrant-Whyte, H. F.},
    title = {Directed Sonar Sensing for Mobile Robot Navigation},
    publisher = {Boston: Kluwer Academic Publishers},
    year = {1992}
  }
  

• H. F. Durrant-Whyte and J. J. Leonard, “Modeling Sonar Sensors,” in The Robotics Review II, MIT Press, 1992, pp. 145–151.
  BibTeX

  @incollection{durrantwhyte92roboticsreview,
    author = {Durrant-Whyte, H. F. and Leonard, J. J.},
    title = {Modeling Sonar Sensors},
    booktitle = {The Robotics Review II},
    publisher = {MIT Press},
    pages = {145-151},
    year = {1992}
  }
  

• C. Brown, H. Durrant-Whyte, J. Leonard, B. Rao, and B. Steer, “Distributed Data Fusion Using Kalman Filtering: A Robotics Application,” in Data Fusion in Robotics and Machine Intelligence, 1992, pp. 267–309.
  BibTeX

  @inproceedings{brown1992dfrmi,
    title = {Distributed Data Fusion Using {K}alman Filtering: A Robotics Application},
    year = {1992},
    author = {Brown, C and Durrant-Whyte, H and Leonard, J and Rao, B and Steer, B},
    journal = {Data Fusion in Robotics and Machine Intelligence},
    pages = {267-309},
    publisher = {Academic Press, Inc., San Diego, CA}
  }
  

• J. J. Leonard and B. A. Moran, “Sonar Data Fusion for 3-D Scene Reconstruction,” in SPIE Sensor Fusion V, 1992, vol. 1828, pp. 144–155.
  BibTeX

  @conference{leonard92spie,
    title = {Sonar Data Fusion for 3-{D} Scene Reconstruction},
    year = {1992},
    author = {Leonard, John J and Moran, Bradley A},
    volume = {1828},
    pages = {144-155},
    booktitle = {SPIE Sensor Fusion V},
    publisher = {International Society for Optics and Photonics}
  }
  

• H. F. Durrant-Whyte and J. J. Leonard, “Modeling Sonar Sensors,” in The Robotics Review II, MIT Press, 1992, pp. 145–151.
  BibTeX

  @inbook{whyte92rr,
    title = {Modeling Sonar Sensors},
    booktitle = {The Robotics Review II},
    year = {1992},
    pages = {145-151},
    publisher = {MIT Press},
    organization = {MIT Press},
    author = {Durrant-Whyte, H F and Leonard, J J}
  }
  

1991

• J. J. Leonard and H. F. Durrant-Whyte, “Mobile Robot Localization by Tracking Geometric Beacons,” IEEE Trans Robotics and Automation, vol. 7, no. 3, pp. 376–382, Jun. 1991.
  E-Print, BibTeX

  @article{leonard91tra,
    title = {Mobile Robot Localization by Tracking Geometric Beacons},
    year = {1991},
    author = {Leonard, John J and Durrant-Whyte, Hugh F},
    journal = {{IEEE} Trans Robotics and Automation},
    month = jun,
    volume = {7},
    number = {3},
    pages = {376-382},
    eprint = {http://www-cgi.cs.cmu.edu/afs/cs.cmu.edu/Web/People/motionplanning/papers/sbp_papers/l/leonard_ieeetroa19.pdf}
  }
  

• J. J. Leonard, “Sonar interpretation using regions of constant depth (RCDs),” in IEE Colloquium on Robot Sensors, 1991, pp. 1/1–1/4.
  BibTeX

  @inproceedings{leonard91iee,
    title = {Sonar interpretation using regions of constant depth
                      (RCDs)},
    author = {Leonard, J. J.},
    booktitle = {IEE Colloquium on Robot Sensors},
    pages = {1/1--1/4},
    year = {1991},
    organization = {IET}
  }
  

• J. Leonard and H. D.-W. I. J. Cox, “ENGLAND USA,” in Autonomous Mobile Robots: Perception, mapping, and navigation, 1991, vol. 1, p. 331.
  BibTeX

  @inproceedings{leonard91amr,
    title = {ENGLAND USA},
    year = {1991},
    author = {Leonard, John and Cox, Hugh Durrant-Whyte Ingemar J},
    journal = {Autonomous Mobile Robots: Perception, mapping, and navigation},
    volume = {1},
    pages = {331},
    publisher = {IEEE Computer Society}
  }
  

• I. J. Cox and J. J. Leonard, “Probabilistic Data Association for Dynamic World Modeling: A Multiple Hypothesis Approach,” 1991, pp. 1287–1294.
  BibTeX

  @conference{cox91icar,
    title = {Probabilistic Data Association for Dynamic World Modeling: A Multiple Hypothesis Approach},
    year = {1991},
    author = {Cox, Ingemar J and Leonard, John J},
    pages = {1287-1294},
    publisher = {IEEE}
  }
  

• J. J. Leonard and H. F. Durrant-Whyte, “Simultaneous Map Building and Localization for an Autonomous Mobile Robot,” in Proc IEEE Int Workshop on Intelligent Robots and Systems, 1991, vol. 3, pp. 1442–1447.
  E-Print, BibTeX

  @inproceedings{leonard91iros,
    title = {Simultaneous Map Building and Localization for an Autonomous Mobile Robot},
    author = {Leonard, John J and Durrant-Whyte, Hugh F},
    booktitle = {Proc {IEEE} Int Workshop on Intelligent Robots and Systems},
    journal = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    volume = {3},
    pages = {1442-1447},
    year = {1991},
    eprint = {http://marinerobotics.mit.edu/sites/default/files/Leonard91iros.pdf}
  }
  

• I. J. Cox and J. J. Leonard, “Temporal Integration of Multiple Sensor Observations for Dynamic World Modeling: A Multiple Hypothesis Approach,” in International Workshop on Information Processing for Autonomous Mobile Robots: Theory and Application, Munich, Germany, 1991.
  BibTeX

  @inproceedings{cox91amr,
    author = {Cox, I. J. and Leonard, J. J.},
    title = {Temporal Integration of Multiple Sensor Observations for
                   Dynamic World Modeling: A Multiple Hypothesis Approach},
    booktitle = {International Workshop on Information Processing for
                   Autonomous Mobile Robots: Theory and Application},
    publisher = {Berlin: Springer-Verlag},
    address = {Munich, Germany},
    year = {1991}
  }
  

1990

• M. Brady, H. Durrant-Whyte, H. Huosheng, J. Leonard, P. Probert, and B. S. Y. Rao, “Sensor-based control of AGVs,” Computing & Control Engineering Journal, vol. 1, no. 2, pp. 64–70, 1990.
  E-Print, BibTeX

  @article{brady90ccej,
    title = {Sensor-based control of AGVs},
    year = {1990},
    author = {Brady, Michael and Durrant-Whyte, Hugh and Huosheng, Hu and Leonard, John and Probert, Penelope and Rao, BSY},
    journal = {Computing & Control Engineering Journal},
    volume = {1},
    number = {2},
    pages = {64-70},
    publisher = {IET Digital Library},
    eprint = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.421.2181&rep=rep1&type=pdf}
  }
  

• J. J. Leonard and H. F. Durrant-Whyte, “Application of multi-target tracking to sonar-based mobile robot navigation,” in 29th IEEE Int. Conference on Decision and Control, 1990, pp. 3118–3123.
  E-Print, BibTeX

  @conference{leonard90acdc,
    title = {Application of multi-target tracking to sonar-based mobile robot navigation},
    year = {1990},
    author = {Leonard, John J and Durrant-Whyte, Hugh F},
    pages = {3118-3123},
    publisher = {IEEE},
    booktitle = {29th {IEEE} Int. Conference on Decision and Control},
    eprint = {https://marinerobotics.mit.edu/sites/default/files/Leonard90cdc.pdf}
  }
  

• J. Leonard and H. F. Durrant-Whyte, “Mobile robot localization by tracking geometric constraints,” in IEEE Conference on Decision and Control, 1990.
  BibTeX

  @inproceedings{leonard90bcdc,
    title = {Mobile robot localization by tracking geometric constraints},
    year = {1990},
    author = {Leonard, J and Durrant-Whyte, HF},
    journal = {IEEE Conference on Decision and Control}
  }
  

• J. J. Leonard, I. J. Cox, and H. F. Durrant-Whyte, “Dynamic Map Building for an Autonomous Mobile Robot,” in Proc. IEEE Int. Workshop on Intelligent Robots and Systems, 1990, pp. 89–96.
  BibTeX

  @inproceedings{leonard90iros,
    author = {Leonard, J. J. and Cox, I. J. and Durrant-Whyte, H. F.},
    title = {Dynamic Map Building for an Autonomous Mobile Robot},
    booktitle = {Proc. {IEEE} Int. Workshop on Intelligent Robots and
                   Systems},
    pages = {89-96},
    year = {1990}
  }
  

1989

• J. J. Leonard and H. F. Durrant-Whyte, “Active Sensor Control for Mobile Robotics,” in IARP Int. Conf. on Multi-Sensor Fusion and Environment Modelling, Toulouse, France, 1989.
  BibTeX

  @inproceedings{leonard89iarp,
    title = {Active Sensor Control for Mobile Robotics},
    author = {Leonard, J. J. and Durrant-Whyte, H. F.},
    booktitle = {IARP Int. Conf. on Multi-Sensor Fusion and Environment
                   Modelling},
    address = {Toulouse, France},
    month = oct,
    year = {1989}
  }
  

• M. Brady, H. Durrant-Whyte, H. Hu, J. Leonard, P. Probert, and B. Rao, “Sensor-based Control of AGV’s,” in IARP 1st Workshop on Domestic Robots and 2nd Workshop on Medical and Healthcare Robotics, 1989, Also published in \em Int. Workshop on Sensorial Integration for Industrial Robots, Zaragoza, Spain, November, 1989, and \em IEE Computing and Control Journal, March 1990.
  BibTeX

  @inproceedings{brady89iarp,
    author = {Brady, M. and Durrant-Whyte, H. and Hu, H. and Leonard, J. and Probert, P. and Rao, B.},
    title = {Sensor-based Control of {AGV}'s},
    booktitle = {IARP 1st Workshop on Domestic Robots and 2nd Workshop on
                   Medical and Healthcare Robotics},
    month = sep,
    year = {1989},
    note = {Also published in {\em Int. Workshop on Sensorial
                   Integration for Industrial Robots}, Zaragoza, Spain,
                   November, 1989, and {\em IEE Computing and Control
                   Journal}, March 1990}
  }
  

• C. Brown, H. Durrant-Whyte, J. Leonard, and B. Rao, “Centralized and Decentralized Kalman Filter Techniques for Tracking, Navigation, and Control,” in DARPA Image Understanding Workshop, 1989, pp. 651–675.
  BibTeX

  @inproceedings{brown89iuw,
    author = {Brown, C. and Durrant-Whyte, H. and Leonard, J. and Rao, B.},
    title = {Centralized and Decentralized {K}alman Filter Techniques
                   for Tracking, Navigation, and Control},
    booktitle = {DARPA Image Understanding Workshop},
    month = may,
    pages = {651-675},
    year = {1989}
  }
  

• J. O. H. N. J. LEONARD and H. U. G. H. F. DURRANT-WHYTE, “Active Sensor Control for Mobile Robotics,” in IARP Int Conf on Multi-Sensor Fusion and Environment Modelling, 1989.
  BibTeX

  @inproceedings{leonard89icmsfe,
    title = {Active Sensor Control for Mobile Robotics},
    booktitle = {IARP Int Conf on Multi-Sensor Fusion and Environment Modelling},
    year = {1989},
    author = {LEONARD, JOHN J and DURRANT-WHYTE, HUGH F}
  }
  

• H. F. Durrant-Whyte and J. J. Leonard, “Navigation by Correlating Geometric Sensor Data,” in Proc. IEEE Int. Workshop on Intelligent Robots and Systems, 1989.
  BibTeX

  @inproceedings{durrantwhyte89iros,
    author = {Durrant-Whyte, H. F. and Leonard, J. J.},
    title = {Navigation by Correlating Geometric Sensor Data},
    booktitle = {Proc. {IEEE} Int. Workshop on Intelligent Robots and
                   Systems},
    year = {1989}
  }
  

• H. F. Durrant-Whyte and J. J. Leonard, “Navigation by Correlating Geometric Sensor Data,” in Proc IEEE Int Workshop on Intelligent Robots and Systems, 1989.
  BibTeX

  @conference{whyte89iros,
    title = {Navigation by Correlating Geometric Sensor Data},
    booktitle = {Proc {IEEE} Int Workshop on Intelligent Robots and Systems},
    year = {1989},
    author = {Durrant-Whyte, H F and Leonard, J J}
  }