Publications by John J. Leonard

    Book:

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

    2. Journal articles:

  2. E. Olson, J. J. Leonard and S. Teller. Robust Range-Only Beacon Localization. Accepted for publication in IEEE Journal of Oceanic Engineering, 2006.

  3. M. C. Bosse, P. M. Newman, J. J. Leonard, and S. Teller. SLAM in Large-scale Cyclic Environments using the Atlas Framework. International Journal of Robotics Research, 23(12), pages 1113-1139, December, 2004.

  4. M. Bosse, R. Rikoski, J. Leonard, and S. Teller. Omni-directional Structure from Motion Using Vanishing Points and 3D Lines. The Visual Computer, 19(6), pages 417-430, October, 2003.

  5. J. J. Leonard, R. J. Rikoski, P. M. Newman, and M. Bosse. Mapping Partially Observable Features from Multiple Uncertain Vantage Points. International Journal of Robotics Research, 21(10), pages 943-975, October, 2002.

  6. J. D. Tard\'os, J. Neira, P. M. Newman, and J. J. Leonard. Robust Mapping and Localization in Indoor Environments using Sonar Data International Journal of Robotics Research, 21(4), pages 311-330, April, 2002.

  7. J. J. Leonard and H. J. S. Feder. Decoupled Stochastic Mapping. IEEE Journal of Oceanic Engineering, pages 561-571, October, 2001.

  8. J. J. Leonard, R. N. Carpenter, and H. J. S. Feder. Stochastic mapping using forward look sonar. Robotica, page 341, Volume 19, 2001.

  9. J. H. Lim and J.J. Leonard. Mobile robot relocation from echolocation constraints IEEE Transactions on Pattern Analysis and Machine Intelligence, Volume 22, Number 9, pages 1035-1041, September, 2000.

  10. A. Bennett and J. J. Leonard. A behavior-based approach to adaptive feature mapping with autonomous underwater vehicles. IEEE Journal of Oceanic Engineering, Vol. 25, No. 2, pages 213-226, April, 2000.

  11. H. J. S. Feder, J. J. Leonard and C. M. Smith. Adaptive mobile robot navigation and mapping. International Journal of Robotics Research, Special Issue on Field and Service Robotics, Volume 18, Number 7, pages 650-668, July, 1999.

  12. J. Vaganay, J. G. Bellingham and J. J. Leonard. Comparison of Fix Computation and Filtering for Autonomous Acoustic Navigation. International Journal of Systems Science, 29(10):1111-1122, October, 1998.

  13. B. A. Moran, J.J. Leonard, and C. Chryssostomidis. Curved shape reconstruction using multiple hypothesis tracking. IEEE Journal of Oceanic Engineering, 22(4):625-638, October, 1997.

  14. 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, 6(1):9-18, March, 1996.

  15. I. J. Cox and J. J. Leonard. Modeling a dynamic environment using a Bayesian multiple hypothesis approach. Artificial Intelligence, 66(2):311-344, April 1994.

  16. J. J. Leonard, I. J. Cox, and H. F. Durrant-Whyte. Dynamic map building for an autonomous mobile robot. Int. J. Robotics Research, 11(4):286--298, August 1992.

  17. J. J. Leonard and H. F. Durrant-Whyte. Mobile robot localization by tracking geometric beacons. IEEE Trans. Robotics and Automation, 7(3):376-382, June 1991.

    18. Conference papers:

  18. E. Olson, J. Leonard, S. Teller. Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates. Accepted for publication in Proceedings of the 2006 IEEE International Conference on Robotics and Automation, May, 2006.

  19. M. Benjamin, J. Curcio, J. Leonard, P. Newman. Navigation of Unmanned Marine Vehicles in Accordance with the Rules of the Road. Accepted for publication in Proceedings of the IEEE International Conference on Robotics and Automation, May, 2006.

  20. 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 12th International Symposium of Robotics Research (ISRR), San Francisco, CA, USA, October 2005. [details]

  21. R. Eustice, M. Walter, and J. Leonard, Sparse Extended Information Filters: Insights into Sparsification, In Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Alberta, Canada, August 2005. [details]

  22. R. Eustice, H. Singh, J. Leonard, M. Walter, and R. Ballard, Visually Navigating the RMS Titanic with SLAM Information Filters, In Proceedings of Robotics: Science and Systems (RSS), Cambridge, MA, USA, June 2005. [details]

  23. E. Olson, M. Walter, S. Teller, and J. Leonard, Single-Cluster Spectral Graph Partitioning for Robotics Applications, In Proceedings of Robotics: Science and Systems (RSS), Cambridge, MA, USA, June 2005. [details]

  24. R. Eustice, H. Singh, J. Leonard. Exactly Sparse Delayed State Filters. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

  25. D. Moore, J. Leonard, D. Rus, S. Teller. Robust distributed network localization with noisy range measurements. In Proceedings of the Second ACM Conference on Embedded Networked Sensor Systems (SenSys '04). Baltimore, MD. November 3-5, 2004.

  26. R. J. Rikoski, J. J. Leonard, P. M. Newman, and H. Schmidt. Trajectory Sonar Perception in the Ligurian Sea. In Experimental Robotics IX, 2004. (Conference held in Singapore in June,2004)

  27. M. Walter and J. Leonard, An Experimental Investigation of Cooperative SLAM, In Proceedings of the Fifth IFAC Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, July 2004. [details]

  28. P. M. Newman, J. J. Leonard and R. J. Rikoski. Towards Constant-Time SLAM on an Autonomous Underwater Vehicle Using Synthetic Aperture Sonar. Proceedings of the Eleventh International Symposium on Robotics Research, Sienna, Italy, October, 2003.

  29. J. J. Leonard and P. M. Newman. Consistent, Convergent, and Constant-Time SLAM. International Joint Conference on Artificial Intelligence, Acapulco, Mexico, 2003.

  30. R. J. Rikoski and J. J. Leonard. Trajectory Sonar Perception. In the 2003 IEEE International Conference on Robotics and Automation.

  31. M. C. Bosse, P. M. Newman, J. J. Leonard, M. Soika, W. Feiten and S. Teller. An Atlas Framework for Scalable Mapping. In the 2003 IEEE International Conference on Robotics and Automation.

  32. P. M. Newman, M. Bosse and J. J. Leonard. Autonomous Feature-based Exploration. In the 2003 IEEE International Conference on Robotics and Automation.

  33. P. M. Newman and J. J. Leonard. Pure range-only subsea SLAM. In the 2003 IEEE International Conference on Robotics and Automation.

  34. M. Bosse, R. Rikoski, J. Leonard, and S. Teller. Vanishing Points and 3D Lines from Omnidirectional Video. Proceedings of the International Conference on Image Processing, Rochester, New York, volume III, pages 513-516, September, 2002.

  35. R. J. Rikoski, J. J. Leonard, and P. M. Newman. Stochastic Mapping Frameworks. Proceedings of the 2002 IEEE International Conference on Robotics and Automation, pages 426--433, May, 2002.

  36. J. W. Fenwick, P. M. Newman, and J. J. Leonard. Cooperative Concurrent Mapping and Localization. Proceedings of the 2002 IEEE International Conference on Robotics and Automation, pages 1810--1817, May, 2002.

  37. P. M. Newman, J. J. Leonard, J. Neira and J. Tardos. Explore and Return: Experimental Validation of Real Time Concurrent Mapping and Localization. Proceedings of the 2002 IEEE International Conference on Robotics and Automation, pages 1802--1809, May, 2002.

  38. J. J. Leonard, P. M. Newman, R. J. Rikoski, Jos\'e Neira, and Juan. D. Tard\'os. Towards Robust Data Association and Feature Modeling for Concurrent Mapping and Localization. Proceedings of the Tenth International Symposium on Robotics Research, Lorne, Victoria, Australia, November, 2001.

  39. J. J. Leonard and R. J. Rikoski. Incorporation of delayed decision making into stochastic mapping, Experimental Robotics VII, pages 533-542, Lecture Notes in Control and Information Sciences, Volume 271, Springer-Verlag, 2001.

  40. J. J. Leonard and H. J. S. Feder. A computationally efficient method for large-scale concurrent mapping and localization. Proceedings of the Ninth International Symposium on Robotics Research, Salt Lake City, Utah, pages 169-176, Springer-Verlag, 2000.

  41. J. J. Leonard, R. N. Carpenter, and H. J. S. Feder. Stochastic mapping using forward looking sonar data for autonomous underwater vehicles. Proceedings of International Conference on Field and Service Robotics, pages 69-74, Pittsburgh, PA, August, 1999.

  42. J. J. Leonard and H. J. S. Feder. Experimental analysis of adaptive concurrent mapping and localization using sonar. Experimental Robotics VI, pages 297-306, Lecture Notes in Control and Information Sciences, Volume 250, Springer-Verlag, 2000.

  43. C. M. Smith, H. J. S. Feder, and J. J. Leonard, Multiple target tracking with navigation uncertainty. In Proc. IEEE Conference on Decision and Control, Tampa, FL, December, 1998.

  44. H. J. S. Feder, J. J. Leonard and C. M. Smith, Adaptive concurrent mapping and localization using sonar, In Proc. IEEE International Conference on Robots and Systems, Victoria, BC, October, 1998.

  45. J. J. Leonard and C. M. Smith. Sensor data fusion in marine robotics. In Proc. of the International Society of Offshore and Polar Engineering, Honolulu, HI, 1997.

  46. J. Vaganay, J. J. Leonard, and J. G. Bellingham. Outlier Rejection for Autonomous Acoustic Navigation. In Proc. IEEE International Conference on Robotics and Automation, pages 2174-2181, Minneapolis, Minnesota, April, 1996.

  47. J. J. Leonard and B. A. Moran and I. J. Cox and M. L. Miller. Underwater sonar data fusion using an efficient multiple hypothesis algorithm. In Proc. IEEE International Conference on Robotics and Automation, pages 2995-3002, Nagoya, Japan, May, 1995.

  48. 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, pages 3118-3123, Hawaii, USA, December 1990.

  49. A. A. Bennett and J. J. Leonard. Feature-relative navigation of an autonomous underwater vehicle. Int. Symp. on Unmanned Untethered Submersible Technology, New Hampshire, August, 1999.

  50. J. J. Leonard and H. J. S. Feder. Experimental analysis of adaptive concurrent mapping and localization using sonar. Proceedings of the International Symposium on Experimental Robotics, Sydney, Australia, March, 1999. Proceedings to be published as a book by Springer-Verlag.

  51. H. J. S. Feder, C. M. Smith, and J. J. Leonard. Adaptive sensing for terrain aided navigation. In Proceedings of IEEE Oceans, October, 1998.

  52. C. M. Smith, H. J. S. Feder, and J. J. Leonard. Making difficult decisions autonomously: the impact of integrated mapping and navigation. In Proceedings of IEEE Conference on Autonomous Underwater Vehicles, August, 1998.

  53. H. J. S. Feder, C. M. Smith, and J. J. Leonard. Incorporating environmental measurements in navigation. In Proceedings of IEEE Conference on Autonomous Underwater Vehicles, August, 1998.

  54. C. M. Smith and J. J. Leonard. A multiple hypothesis approach to concurrent mapping and localization for autonomous underwater vehicles. Proceedings of International Conference on Field and Service Robotics, Sydney, Australia, December, 1997. Proceedings published by Springer-Verlag, 1998.

  55. C. M. Smith, J. J. Leonard, A. A. Bennett and C. Shaw. Feature-based concurrent mapping and localization for autonomous underwater vehicles. Proceedings of IEEE Oceans, October, 1997.

  56. C. M. Smith, J. J. Leonard, A. A. Bennett and C. Shaw. Concurrent mapping and localization for autonomous underwater vehicles. In proceedings of Undersea Defence Technology, pages 338-342, June, 1997.

  57. A. B. Bennett and J. J. Leonard. Autonomous mapping with an AUV: an approach for ground truthing of remote sensing data. In proceedings of IEEE Oceans, pages 1099-1104, Ft. Lauderdale, Florida, September, 1996.

  58. 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 proceedings of IEEE Oceans, pages 411-416, Ft. Lauderdale, Florida, September, 1996.

  59. A. B. Bennett, J. J. Leonard and J. G. Bellingham. Bottom following for survey class autonomous underwater vehicles. Proc. Int. Symp. on Unmanned Untethered Submersible Technology, pages 327-336, New Hampshire, September, 1995.

  60. J. Vaganay, J. G. Bellingham and J. J. Leonard. Comparison of Fix Computation and Filtering for Autonomous Acoustic Navigation. Proceedings of the IARP Workshop on Mobile Robots for Subsea Environments, Toulon, France, March, 1996.

  61. 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. Proc. Int. Symp. on Unmanned Untethered Submersible Technology, pages 436-443, New Hampshire, September, 1995.

  62. D. K. Atwood, J. J. Leonard, J. G. Bellingham and B. A. Moran. An acoustic navigation system for multiple vehicles. Proc. Int. Symp. on Unmanned Untethered Submersible Technology, pages 202-208, New Hampshire, September, 1995.

  63. 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. Workshop on Computer Graphics Technology in the Exploration of the Sea, Rostock, Germany, May, 1995.

  64. J. G. Bellingham and J. J. Leonard and J. Vaganay and C. Goudey and D. Atwood and T. Consi and J. Bales and H. Schmidt and C. Chryssostomidis. AUV operations in the Arctic. Proceedings of the Sea Ice Mechanics and Arctic Modeling Workshop. Anchorage, Alaska, USA, April, 1995.

  65. I. J. Cox and J. J. Leonard. Unsupervised learning for mobile robot navigation using probabilistic data association. In S. Hanson, T. Petsche, M. Kearns and R. Rivest, editors, Computational Learning Theory and Natural Learning Systems, Volume II: Intersections between Theory and Experiment, pages 297--319, MIT Press, 1994.

  66. J. G. Bellingham, C. A. Goudey, T. R. Consi, J. W. Bales, D. K. Atwood, J. J. Leonard and C. Chryssostomidis. A second generation survey AUV. In Proc. IEEE Conference on Autonomous Underwater Vehicles, pages 148-155, Cambridge, MA, 1994.

  67. J. G. Bellingham and J. J. Leonard. Mission configuration using layered control. Proceedings of the IARP 2nd Workshop on Mobile Robots for Subsea Environments, pages 193-202, Monterey, CA, May, 1994.

  68. J. G. Bellingham, C. Chryssostomidis, M. Deffenbaugh, J. J. Leonard, and H. Schmidt. Arctic under-ice survey operations. In Proc. Intl. Symposium on Unmanned Untethered Submersible Technology, pages 50-59, University of New Hampshire, September, 1993.

  69. S. T. Tuohy, N. M. Patrikalakis, J. J. Leonard, J. G. Bellingham, and C. Chryssostomidis. AUV navigation using geophysical maps with uncertainty. In Proc. Intl. Symposium on Unmanned Untethered Submersible Technology, pages 255-276, University of New Hampshire, September, 1993.

  70. B. A. Moran, J. J. Leonard and C. Chryssostomidis. Geometric shape from sonar ranging. In Proc. Intl. Symposium on Unmanned Untethered Submersible Technology, pages 370-383, University of New Hampshire, September, 1993.

  71. J. J. Leonard and J. G. Bellingham. Directed sensing strategies for feature-relative navigation. In P. S. Schenker, editor, SPIE Sensor Fusion VI, pages 120-129, Boston, MA, September 1993.

  72. J. J. Leonard and B. A. Moran. Sonar data fusion for 3-D scene reconstruction. In P. S. Schenker, editor, SPIE Sensor Fusion V, pages 144--155, Boston, MA, November 1992.

  73. H. F. Durrant-Whyte and J. J. Leonard. Modeling sonar sensors. In O. Khatib, J. Craig, and T. Lozano-Perez, editors, The Robotics Review II, pages 145--151. MIT Press, 1992.

  74. C. Brown, H. Durrant-Whyte, J. Leonard, B. Rao, and B. Steer. Distributed data fusion using Kalman filtering: A robotics application. In M. A. Abidi and R. C. Gonzalez, editors, Data Fusion in Robotics and Machine Intelligence, pages 267--309. Academic Press, 1992.

  75. 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, pages 1442-1447, Osaka, Japan, November 1991. Also presented at the 2nd IARP Int. Conf. on Multi-Sensor Fusion and Environment Modelling, Oxford, UK, September 1991.

  76. I. J. Cox and J. J. Leonard. Probabilistic data association for dynamic world modeling: A multiple hypothesis approach. In International Conference on Advanced Robotics, Pisa, Italy, June 1991.

  77. 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, pages 23-34, Munich, Germany, March 1991. Berlin: Springer-Verlag.

  78. J. J. Leonard. Sonar interpretation using regions of constant depth (RCDs). IEE Colloquium on Robot Sensors (Digest No. 016), pp.1/1-4, London, UK, January, 1991.

  79. 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, pages 89-96, July 1990. Also published in Autonomous Mobile Robots, edited by S. Iyengar and A. Elfes, Los Alamitos, CA: IEEE Computer Society Press, 1991.

  80. 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, October 1989. Extended version published as Technical Report OUEL-1788/89, Department of Engineering Science, University of Oxford.

  81. J. M. Brady, H. F. Durrant-Whyte, H. Hu, J. J. Leonard, P. J. Probert, and B. Y. S. Rao. Sensor-based control of AGV's. In IARP 1st Workshop on Domestic Robots and 2nd Workshop on Medical and Healthcare Robotics, September 1989. Also published in Int. Workshop on Sensorial Integration for Industrial Robots, Zaragoza, Spain, November 1989, and IEE Computing and Control Journal, March 1990.

  82. H. F. Durrant-Whyte and J. J. Leonard. Navigation by correlating geometric sensor data. In Proc. IEEE Int. Workshop on Intelligent Robots and Systems, Japan, September 1989.

  83. 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, pages 651--675, May 1989.