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John J. Leonard

John J. Leonard

Professor of Mechanical and Ocean Engineering

Room 5-214
Massachusetts Institute of Technology
77 Massachusetts Avenue
Cambridge MA 02139-4307
Phone: 617-253-5305  
Fax: 617-253-8125  
Email:
Web: http://groups.csail.mit.edu/marine/wiki/index.php?title=Main_Page

Curriculum Vitae

Administrative Contact:
Marcia Munger
Room 5-207
Phone: 617-253-9709  
Email:

Teaching Interests
Recent teaching has included co-teaching of the subjects 2.671 Instrumentation and Measurement and 2.12 Introduction to Robotics.


Educational Background
BSEE summa cum laude, Univ. of Pennsylvania, 1987

DPhil, University of Oxford, 1994

Principal Publications (last 5 years)

 

2012

  • D. M. Rosen, M. Kaess, and J. J. Leonard, "An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation." In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN. May, 2012. pdf bibtex
  • M. F. Fallon, H. Johannsson, and J. J. Leonard, "Efficient Scene Simulation for Robust Monte Carlo Localization using an RGB-D Camera." In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN. May, 2012. pdf bibtex
  • M. Kaess, H. Johannsson, R. Roberts, V. Ila, J. J. Leonard, and F. Dellaert, "iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree." In The International Journal of Robotics Research, 31, pages 217-236. February, 2012. pdf bibtex

2011

  • J. McDonald, M. Kaess, C. Cadena, J. Neira, and J. J. Leonard, "6-DOF Multi-session Visual SLAM using Anchor Nodes." In European Conference on Mobile Robots, ECMR, Orebro, Sweden, pages 69-76. September, 2011. pdf bibtex
  • 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. August, 2011. pdf bibtex
  • 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. May, 2011. pdf bibtex
  • 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 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, pages 3281-3288. May, 2011. pdf bibtex
  • M. F. Fallon, M. Kaess, H. Johannsson, and J. J. Leonard, "Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar." In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, pages 2398-2405. May, 2011. pdf bibtex
  • J. Folkesson, and J. Leonard, "Autonomy through SLAM for an Underwater Robot." In Robotics Research, pages 55-70. 2011. pdf bibtex

2010

  • J. C. Leedekerken, M. F. Fallon, and J. J. Leonard, "Mapping Complex Marine Environments with Autonomous Surface Craft." In Experimental Robotics, Delhi, India. December, 2010. pdf bibtex
  • 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. October, 2010. pdf bibtex
  • H. Johannsson, M. Kaess, B. Englot, F. S. 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. October, 2010. pdf bibtex
  • M. F. Fallon, G. Papadopoulos, J. J. Leonard, and N. M. Patrikalakis, "Cooperative AUV Navigation using a Single Maneuvering Surface Craft." In The International Journal of Robotics Research, 29(12), pages 1461-1474. October, 2010. pdf bibtex
  • 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 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, pages 3185-3192. May, 2010. pdf bibtex
  • M. Kaess, H. Johannsson, B. Englot, F. S. Hover, and J. J. Leonard, "Towards Autonomous Ship Hull Inspection using the Bluefin HAUV." In Ninth International Symposium on Technology and the Mine Problem, Naval Postgraduate School, Monterey, CA. May, 2010. pdf bibtex
  • M. F. Fallon, G. Papadopoulos, and J. J. Leonard, "A Measurement Distribution Framework for Cooperative Navigation using multiple AUVs." In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 4803-4808. May, 2010. pdf bibtex
  • 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, 29(13). 2010. pdf bibtex
  • M. R. Benjamin, H. Schmidt, P. M. Newman, and J. J. Leonard, "Nested autonomy for unmanned marine vehicles with MOOS-IvP." In Journal of Field Robotics, 27(6), pages 834-875. 2010. pdf bibtex

2009

  • M. F. Fallon, G. Papadopoulos, and J. J. Leonard, "Cooperative AUV Navigation using a Single Surface Craft." In International Conference on Field and Service Robotics. July, 2009. pdf bibtex
  • A. Bahr, M. Walter, and J. J. Leonard, "Consistent cooperative localization." In IEEE International Conference on Robotics and Automation, pages 3415-3422. May, 2009. pdf bibtex
  • E. Olson, and M. Kaess, "Evaluating the Performance of Robot Mapping Systems." In Workshop on Good Experimental Methodology in Robotics. 2009. pdf bibtex
  • 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 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2009. pdf bibtex
  • A. Bahr, J. J. Leonard, and M. F. Fallon, "Cooperative Localization for Autonomous Underwater Vehicles." In The International Journal of Robotics Research, 28(6), pages 714-728. 2009. pdf bibtex

2008

  • A. Bahr, and J. J. Leonard, "Cooperative Localization for Autonomous Underwater Vehicles." In Experimental Robotics, Rio de Janeiro, Brasil, pages 387-395. July, 2008. pdf bibtex
  • M. Walter, F. Hover, and J. Leonard, "SLAM for ship hull inspection using exactly sparse extended information filters." In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1463-1470. 2008. pdf bibtex
  • S. Thrun, and J. J. Leonard, "Simultaneous Localization and Mapping." In Springer Handbook of Robotics. 2008. bibtex
  • 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, pages 1-10. 2008. pdf bibtex
  • 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." In Journal of Field Robotics, Chichester, UK, 25(10), pages 727-774. 2008. pdf bibtex
  • J. C. Leedekerken, R. Williams, and J. Leonard, "Short-baseline acoustic tracking with autonomous surface vehicles." In Navigation, Guidance and Control of Underwater Vehicles, pages 218-223. 2008. pdf bibtex
  • J. Folkesson, J. Leederkerken, R. Williams, A. Patrikalakis, and J. Leonard, "A feature based navigation system for an autonomous underwater robot." In International Conference on Field and Service Robotics, 42, pages 105-114. 2008. pdf bibtex
  • 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." In Journal of Field Robotics, 25(10), pages 775-807. 2008. pdf bibtex
  • C. Detweiler, J. Leonard, D. Rus, and S. Teller, "Passive mobile robot localization within a fixed beacon field." In Algorithmic Foundation of Robotics VII, pages 425-440. 2008. pdf bibtex

 

Scientific and Professional Societies
1996-present-IEEE (Oceanic Engineering and Robotics and Automation Societies)
2000-2003-IEEE Transactions on Robotics and Automation, Associate Editor

Honors and Awards
1987-Thouron Fellowship
1986-Henry L. And Grace Doherty Assistant Professorship in Ocean Utilization
1998-National Science Foundation CAREER Award
2004-E.T.S. Walton Visitor Award, Science Foundation Ireland
2004-Best Paper Award, ACM SenSys, (with D. Moore, D. Rus, and S. Teller)
2005-Best Student Paper Award, IEEE ICRA 2005, (awarded to Ryan Eustice, MIT/WHOI joint program, co-advised with Hanumant Singh)

2007-King-Sun Fu Memorial Best Transactions on Robotics Paper Award (shared with Ryan Eustice and Hanumant Singh)

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