Marine Robotics Group

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Marine Robotics Group
Our Selection of Robots


The Marine Robotics Group, headed by Prof. John J. Leonard, is part of the Computer Science and Artificial Intelligence Laboratory in MIT. Our research is concerned with robotic localization and mapping applications below, on and above water in marine and river environments. Other contributions of our group members include automotive and supply robotics.

A listing of current and recent projects and publications is given below.

Contents

Prof John J Leonard

John Leonard


John J. Leonard is Professor of Mechanical and Ocean Engineering in the MIT Department of Mechanical Engineering and a member of the MIT Computer Science and Artificial Intelligence Laboratory (CSAIL). His research addresses the problems of navigation and mapping for autonomous mobile robots. He holds the degrees of B.S.E.E. in Electrical Engineering and Science from the University of Pennsylvania (1987) and D.Phil. in Engineering Science from the University of Oxford (formally 1994). He is the recipient of an NSF Career Award (1998), an E.T.S. Walton Visitor Award from Science Foundation Ireland (2004), and the King-Sun Fu Memorial Best Transactions on Robotics Paper Award (2006). Currently, he serves as Area Head for Ocean Science and Engineering in the MIT Department of Mechanical Engineering and as Co-Director of the Ford-MIT Alliance.



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News

  • September 2010: Mike, Hordur, Hunter, Maurice and Stephanie Petillo from LAMSS underwent a weeks training with the Hydroid REMUS 100 - our new AUV.
  • August 2010: Michael has released open source code for iSAM, now available here under LGPL 2.1. Includes full documentation, a few datasets and a 3D viewer.

Projects

Kinect Monte Carlo Localization
Kinect Monte Carlo Localization
Ship Hull Inspection
Ship Hull Inspection
Feature Based Navigation
Feature Based Navigation
Cooperative AUV Navigation
Cooperative AUV Navigation
Autonomous Mapping of Complex Marine Environments
Autonomous Mapping of Complex Marine Environments
Riverine Exploration
Riverine Exploration
Multi-Robot Mapping
Multi-Robot Mapping
Agile Robotics
Agile Robotics
DARPA Urban Challenge
DARPA Urban Challenge

Publications

Click here for recent publications from the group

Software

Click here to find out about some of the software that our group has developed with our collaborators

Videos

Multiple Relative Pose Graphs for Robust Cooperative Mapping (ICRA 2010)
Acoustic Modem Cooperative Navigation (ICRA 2011)
Acoustic Modem Cooperative Navigation for Many AUVs (ICRA 2011)
Imaging Sonar-Aided Navigation for AUVs (IROS 2010)

Directions

Directions the Group Office Space
  • Prof Leonard's Office Room: 32-231
  • Group Office Space: 32-225
  • Group Lab Space: 32-271
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