Joshua Marshall, PhD, PEng, was born in Iqaluit (ᐃᖃᓗᐃᑦ) and was raised in St. Lucia (Caribbean), Edmonton, Winnipeg, and North Bay. He is a multi-disciplinary engineering scientist, educator, and technical consultant with expertise in systems control engineering, mobile robotics, autonomous vehicle navigation and mapping. He has a special interest in and experience with application heavy vehicle automation, particularly in mining, space, marine, and defence, as well as in other harsh-environment applications.
Dr. Marshall earned his doctoral degree in electrical and computer engineering, specializing in systems control, from the University of Toronto in 2005 under the supervision of Profs. Bruce Francis and Mireille Broucke. He joined Queen’s University in 2010 and has been instrumental in building the multidisciplinary Offroad Robotics research group and, most recently, leading the collaborative robotics and artificial intelligence-focused Ingenuity Labs Research Institute as its inaugrual Director. At Queen’s, Dr. Marshall is also cross-appointed to the Department of Mechanical & Materials Engineering and to The Robert M. Buchan Department of Mining where he supervises graduate research. He has served as a departmental Graduate Admissions Coordinator (2019-present) and Associate Head of department (2017-19).
Dr. Marshall is also a founding member of the NSERC Canadian Robotics Network (NCRN). In 2016-17 he was the KKS International Visiting Professor of Computer Science at the Centre for Applied Autonomous Sensor Systems (AASS) in the School of Science and Technology at Örebro University, Sweden. Prior to joining Queen’s, Dr. Marshall was an Assistant Professor in the Department of Mechanical & Aerospace Engineering at Carleton University where he lead the Robotic Vehicles Group. Before that, he served as an R&D/Control Systems Engineer on both space and terrestrial robotics projects at the robotics firm MacDonald, Dettwiler, and Associates (MDA), Inc., where he worked on field and mobile robotics projects for industry clients in Canada, the US, Australia, and in Europe.
Dr. Marshall is a Senior Member of the IEEE. He served as an elected Associate Editor from 2017-20 to the Conference Editorial Board (CEB) of the IEEE Control Systems Society (CSS) and as an Editor for the IEEE/RSJ International Conference on Robots and Systems (IROS) from 2017-21. He has also served on three occasions as co-organizer of the Control and Robotics Symposium of the IEEE Canadian Conference on Electrical and Computer Engineering (CCECE) and, from 2018-20, as a member of the IEEE Medal for Environmental & Safety Technologies Committee. Dr. Marshall also served (2019-2022) as a Technical Editor for the IEEE/ASME Transactions on Mechatronics and currently serves as an Associate Editor for the International Journal of Robotics Research (IJRR). Dr. Marshall’s work is featured in the From Earth to Us exhibit at the Canada Science and Technology Museum and has been commercialized through companies such as Epiroc AB and RockMass Technologies, Inc. Dr. Marshall is also a licensed Professional Engineer in the province of Ontario and has served as a Program Visitor and Vice-Chair on multiple program accreditation site visits for the Canadian Engineering Accreditation Board (CEAB) of Engineers Canada.
Josh and his wife Jill live in Kingston where they are the proud parents of Owen, Maeve, and Finn. For more information about Dr. Marshall and his research, visit the Offroad Robotics website and the Ingenuity Labs website. You can also find him as @botprof@robotics-ai.social on Mastodon.
Contact
c/o Ingenuity Labs Research Institute
Mitchell Hall, Room 395
69 Union Street, Kingston, ON K7L 3N6 Canada
joshua.marshall@queensu.ca
+1 613 533-2921
Office: Mitchell Hall (69 Union St) Room 385
External Links
Teaching
Queen’s University
Active
ELEC 845 Autonomous Vehicle Control and Navigation (winter 2020, fall 2020, winter 2022, 2023)
MREN 203 Mechatronics & Robotics Design II (winter 2023)
ELEC 390/490 Electrical Engineering Project (fall-winter 2014-15, 2016-17, 2018-19, 2019-20, 2021-22)
Inactive
ELEC 299 Mechatronics Project (winter 2022)
ELEC 443 Linear Control Systems (fall 2019)
MINE 855 Autonomous Ground Vehicles Engineering (winter 2018, 2019, fall 2019)
MINE 472 Mining Systems, Automation, and Control (winter 2016, 2017, 2018, 2019)
MINE 471 Mine-Mechanical Design Project (winter 2012, fall-winter 2012-13, winters 2014, 2015, 2016, 2018, 2019)
APSC 200 Engineering Design and Practice II (fall 2011, 2012, 2013, 2018)
MINE 202 Instrumentation and Computer Applications in Mining (fall 2010, 2011, 2012, 2013, 2017, 2018)
MINE 853 Mining Robotics (winter 2012, 2013, 2014. 2015, 2016)
MINE 459 Reliability, Maintenance, and Risk Assessment (fall 2014, 2015)
MINE 201 Introduction to Mining and Mineral Processing (fall 2011, 2012, 2013, 2014, 2015)
MINE 852 Mine Mechanization and Automation (winter 2011)
Carleton University
MECH 5504 Guidance, Navigation, and Control (winter 2008, 2009, 2010)
AERO 4907 S-CO2 Gas Turbine Design Project (2008-2010)
ECOR 1010 Introduction to Engineering (fall 2008, 2009)
MAAE 4500 Feedback Control Systems (fall 2008)
AERO 4907 NORSAT Microsatellite Design Project (2007-2008)
Publications
Journal Articles
L. Antonyshyn, J. Silveira, S. Givigi, and J. A. Marshall. Multiple mobile robot task and motion planning: A survey. In Computing Surveys, accepted September 14, 2022. DOI: 10.1145/3564696
L. Khaleghi, A. Sepas-Moghaddam, J. A. Marshall, and A. Etemad. Multi-view video-based 3D hand pose estimation. In IEEE Transactions on Artificial Intelligence, accepted July 29, 2022. DOI: 10.1109/TAI.2022.3195968
A. Farley, J. Wang, and J. A. Marshall. How to pick a mobile robot simulator: A quantitative comparison of CoppeliaSim, Gazebo, MORSE and Webots with a focus on accuracy of motion. In Simulation Modelling Practice and Theory, vol. 120, November, 2022. DOI: 10.1016/j.simpat.2022.102629
L. Khaleghi, U. Artan, A. Etemad, and J. A. Marshall. Touchless control of heavy equipment using low-cost hand gesture recognition. In the Special Issue on An End-to-end Machine Learning Perspective on Industrial IoT of the IEEE Internet of Things Magazine, vol. 5, no. 1, March 2022. DOI: 10.1109/IOTM.002.2200022.
M. T. Ahmed, S. Ziauddin, J. A. Marshall, and M. Greenspan. Point cloud registration using virtual interest points from Macaulay’s resultant of quadric surfaces. In the Journal of Mathematical Imaging and Vision, January 2021. DOI: 10.1007/s10851-020-01013-z
H. Fernando and J. A. Marshall. What lies beneath: Material classification for autonomous excavators using proprioceptive force sensing and machine learning. In the special issue on Smart Operation of Heavy Construction Equipment in Automation in Construction, vol. 119, November, 2020. DOI: 10.1016/j.autcon.2020.103374
J. Mitchell and J. A. Marshall. Towards a novel auto-rotating UAV platform for cavity surveying. In Tunnelling and Underground Space Technology, vol. 97, March 2020. DOI: 10.1016/j.tust.2019.103260
L. Dekker, J. A. Marshall, and J. Larsson. Experiments in feedback linearized iterative learning-based path following for center-articulated industrial vehicles. In Journal of Field Robotics, vol. 36, no. 5, August 2019. DOI: 10.1002/rob.21864
H. Fernando, J. A. Marshall, and J. Larsson. Iterative learning-based admittance control for autonomous excavation. In Journal of Intelligent & Robotic Systems, vol. 96, no. 3-4, December 2019. DOI: 10.1007/s10846-019-00994-3
R. Hewitt, E. Boukas, M. Azkarate, M. Pagnamenta, J. A. Marshall, A. Gasteratos, and G. Visentin. The Katwijk beach planetary rover dataset. In The International Journal of Robotics Research, vol. 37, no. 1, pp. 3-12, January 2018. DOI: 10.1177/0278364917737153
C. Watson and J. A. Marshall. Estimating underground mine ventilation friction factors from low-density 3D data acquired by a moving LiDAR. In the International Journal of Mining Science and Technology, available online March 28, 2018. DOI: 10.1016/j.ijmst.2018.03.009
R. Hewitt, E. Boukas, M. Azkarate, M. Pagnamenta, J. A. Marshall, A. Gasteratos, and G. Visentin. The Katwijk beach planetary rover dataset. In The International Journal of Robotics Research, vol. 37, no. 1, pp. 3-12, January 2018. DOI: 10.1177/0278364917737153
A. A. Dobson, J. A. Marshall, and J. Larsson. Admittance control for robotic loading: Design and experiments with a 1-tonne loader and a 14-tonne load-haul-dump machine. Invited paper in the special issue on Field and Service Robotics of the Journal of Field Robotics, vol. 34, no. 1, pp. 123-150, January 2017. DOI: 10.1002/rob.21654
M. J. Gallant and J. A. Marshall. Automated rapid mapping of joint orientations with mobile LiDAR. In the International Journal of Rock Mechanics and Mining Sciences, vol. 90, pp. 1-14, December 2016. DOI: 10.1016/j.ijrmms.2016.09.014
M. Pasternak and J. A. Marshall. On the design and selection of vehicle coordination policies for underground mine production ramps. To appear in International Journal of Mining Science and Technology, vol. 26, no. 5, September 2016. DOI: 10.1016/j.ijmst.2016.05.014
M. J. Gallant and J. A. Marshall. The LiDAR Compass: Extremely lightweight heading estimation with axis maps. In Robotics and Autonomous Systems, vol. 82, pp. 35-45, August 2016. DOI: 10.1016/j.robot.2016.04.005
M. J. Gallant and J. A. Marshall. Two-dimensional axis mapping using LiDAR. In IEEE Transactions on Robotics, vol. 32, no. 1, pp. 150-160, January 2016. DOI: 10.1109/TRO.2015.2506162
C. Ingram and J. A. Marshall. Evaluation of a ToF camera for remote surveying of underground cavities excavated by jet boring. In Automation in Construction, vol. 49, Part B, pp. 271-282, January 2015.
D. Haviland and J. A. Marshall. Fundamental behaviours of production traffic in underground mine haulage ramps. In International Journal of Mining Science and Technology, vol. 25, No. 1, pp. 7-14, January 2015. DOI: 10.1016/j.ijmst.2014.11.006
C. McKinnon and J. A. Marshall. Automatic identification of large fragments in a pile of broken rock using a time-of-flight camera. In IEEE Transactions on Automation Science and Engineering, vol. 11, no. 3, pp. 935-942, July 2014.
M. J. Gallant, A. Ellery, and J. A. Marshall. Rover-based autonomous science by probabilistic identification and evaluation. In Journal of Intelligent and Robotic Systems, vol. 73, no. 3-4, pp. 591-613, December 2013.
N. J. Lavigne and J. A. Marshall. A landmark-bounded method for large-scale underground mine mapping. In Journal of Field Robotics, vol. 29, no. 6, pp. 861-879, November/December 2012.
J. A. Marshall and D. Tsai. Periodic formations of multivehicle systems. In IET Control Theory & Applications, vol. 5, no. 2, pp. 389-396, March 2011.
U. Artan, J. A. Marshall, and N. J. Lavigne. Robotic mapping of underground mine passageways. In Transactions of the IMM (Part A): Mining Technology, vol. 120, no. 1, pp. 18-24, January 2011. DOI: 10.1179/1743286311Y.0000000001
J. A. Marshall and M. E. Broucke. Symmetry invariance of multiagent formations in self-pursuit. IEEE Transactions on Automatic Control, vol 3, no. 9, pp. 2022-2032, October 2008.
J. A. Marshall, T. D. Barfoot, and J. Larsson. Autonomous underground tramming for center-articulated vehicles. Invited paper in the Special Issue on Field and Service Robotics of the Journal of Field Robotics, vol. 25, no. 6-7, pp. 400-421, June-July 2008. Related video: http://www.youtube.com/watch?v=ShBMIoQk6Wc.
J. A. Marshall, P. F. Murphy, and L. K. Daneshmend. Toward autonomous excavation: Full-scale experiments. IEEE Transactions on Automation Science and Engineering, vol. 5, no. 3, pp. 562-566, July 2008.
J. A. Marshall, T. Fung, M. E. Broucke, G. M. T. D’Eleuterio, and B. A. Francis. Experiments in multivehicle coordination. Robotics and Autonomous Systems, vol. 54, no. 3, pp. 265-275, March 2006.
J. A. Marshall, M. E. Broucke, and B. A. Francis. Pursuit formations of unicycles. Automatica, vol. 42, no. 1, pp. 3-12, January 2006.
J. A. Marshall, M. E. Broucke, and B. A. Francis. Formations of vehicles in cyclic pursuit. IEEE Transactions on Automatic Control, vol. 49, no. 11, pp. 1963-1974, November 2004.
Book Contributions
J. Marshall. Mining robotics. Invited chapter to appear in the Springer Encyclopedia of Robotics. Published online April 12, 2020. DOI: 10.1007/978-3-642-41610-1_35-1
J. A. Marshall, A. Bonchis, E. M. Nebot, and S. Scheding. Robotics in Mining. Invited Chapter 59, Part F, in the Springer Handbook of Robotics, 2nd edition, 2016. DOI: 10.1007/978-3-319-32552-1_59
J. A. Marshall, Z. Lin, M. E. Broucke, and B. A. Francis. Pursuit strategies for autonomous agents. Invited chapter in Cooperative Control: A Post-workshop Volume: 2003 Block Island Workshop on Cooperative Control, eds. V. Kumar, N. E. Leonard, and A. S. Morse. Springer-Verlag Series: Lecture Notes in Control and Information Sciences, vol. 309, pp. 137-151, 2004. DOI: 10.1007/978-3-540-31595-7_8
Patents and Patent Applications
J. Mitchell and J. A. Marshall. Autorotating unmanned aerial vehicle surveying platform. US Provisional Patent Application No. 62/538,896, filed July 26, 2018.
S. W. Pyke, J. A. Marshall, N. J. Lavigne, and U. Artan. A method and system for georeferencing underground data. Canadian Provisional Patent Application No. 2978197, filed January 6, 2017.
R. L. Vanderbeck and J. A. Marshall. Tunnel convergence detection apparatus and method. US Provisional Patent Application No. 62/314,739, filed March 29, 2016.
M. J. Gallant and J. A. Marshall. Automated mobile geotechnical mapping. US Provisional Patent Application No. 62/174,371, filed June 11, 2015.
A. A. Dobson and J. A. Marshall. Autonomous loading vehicle controller. US Provisional Patent Application No. 61/931,243, filed January 24, 2014.
S. W. Pyke, N. J. Lavigne, J. A. Marshall, J. Peck, and A. Scott. Dead-reckoning-augmented GPS for tracked vehicles. US Patent Application No. US 20160238714 A1, filed October 21, 2014.
T. D. Barfoot, J. A. Marshall, R. Mukherji, and R. Ward. Guidance, navigation and control system for a vehicle. US Patent No. US 8090491 B2, granted January 3, 2012, and US Patent No. US 8260483 B2, granted September 4, 2012.
J. A. Marshall and T. D. Barfoot. Traffic management system for a passageway environment. US Patent No. 7756615 US B2, July 13, 2010. European patent EP1924981B1, granted September 12, 2012.
J. A. Marshall and T. D. Barfoot. Global position and orientation estimation system for a vehicle in a passageway environment. European Patent Application No. EP 2 450 763 A1, filed July 26, 2006.
Conference Papers (Fully-Refereed)
T. M. C. Sears, M. R. Cooper, and J. A. Marshall. Mapping waves with an uncrewed surface vessel via Gaussian process regression. To appear in Proceedings of the 2023 IEEE International Conference on Robotics & Automation (ICRA), London, UK, May-June 2023. [Preprint PDF]
D. Sacoransky, K. Hashtrudi-Zaad, and J. A. Marshall. Towards unsupervised filtering of millimetre-wave radar returns for autonomous vehicle road following. To appear in Proceedings of the 2023 IEEE International Conference on Robotics & Automation (ICRA), London, UK, May-June 2023. [Preprint PDF]
J. Silveira, K. Cabral, S. Givigi, and J. A. Marshall. Real-time fast marching tree for mobile robot motion planning in dynamic environments. To appear in Proceedings of the 2023 IEEE International Conference on Robotics & Automation (ICRA), London, UK, May-June 2023.
T. M. C. Sears and J. A. Marshall. Mapping of spatiotemporal scalar fields by mobile robots using Gaussian process regression. In Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 2022.
L. Khaleghi, J. A. Marshall, and A. Etemad. Exploiting sequential contexts using transformers for 3D hand pose estimation. In Proceedings of the 26th International Conference on Pattern Recognition (ICPR), Montreal, QC, August 2022.
A. Greisman, K. Hashtrudi-Zaad, and J. A. Marshall. Detection of conductive lane markers using mmWave FMCW automotive radar. In Proceedings of the 2021 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Karlsruhe, Germany, September 23, 2021.
J. Caldwell and J. A. Marshall. Towards efficient learning-based model predictive control via feedback linearization and Gaussian process regression. In Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, September 27, 2021.
U. Artan, H. Fernando, and J. A. Marshall. Automatic material classification via proprioceptive sensing and wavelet analysis during excavation. In Proceedings of the 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Delft, The Netherlands, July 12, 2021.
O. Mayuku, B. F. Surgenor, and J. A. Marshall. A self-supervised near-to-far approach for terrain-adaptive off-road autonomous driving. In Proceedings of the 2021 IEEE Conference on Robotics and Automation (ICRA), Xi’an, China, May 30, 2021.
O. Mayuku, B. F. Surgenor, and J. A. Marshall. Multi-resolution and multi-domain analysis of off-road datasets for autonomous driving. In Proceedings of the 2021 Computer and Robot Vision Conference (CRV), Burnaby, BC, May 25, 2021. DOI: 10.1109/CRV52889.2021.00030
U. Artan and J. A. Marshall. Towards automatic classification of fragmented rock piles via proprioceptive sensing and wavelet analysis. In Proceedings of the 2020 IEEE Conference on Multisensor Fusion and Integration, Karlsruhe, Germany, September 2020. DOI: 10.1109/MFI49285.2020.9235261
J. von Tiesenhausen, U. Artan, J. A. Marshall, and Q. Li. Hand gesture-based control of a front-end loader. In Proceedings of the 33rd IEEE Canadian Conference on Electrical and Computer Engineering (CCECE), London, ON, May 2020.
M. T. Ahmed, J. A. Marshall, and M. Greenspan. Point cloud registration with virtual interest points from implicit quadric surface intersections. In Proceedings of the 2017 International Conference on 3D Vision (3DV 2017), Qingdao, China, October 2017. DOI: 10.1109/3DV.2017.00079
L. G. Dekker, J. A. Marshall, and J. Larsson. Industrial-scale autonomous wheeled-vehicle path following by combining iterative learning control with feedback linearization. In Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, BC, September 2017.
H. Fernando, J. A. Marshall, H. Almqvist, and J. Larsson. Towards controlling bucket fill factor in robotic excavation by learning admittance control setpoints. In Proceedings of the 11th Conference on Field and Service Robotics (FSR 2017), Zürich, Switzerland, September 2017.
M. J. Gallant and J. A. Marshall. Automated three-dimensional axis mapping with a mobile platform. In Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016. DOI: 10.1109/ICRA.2016.7487236
E. Deretey, M. T. Ahmed, J. A. Marshall, and M. Greenspan. Visual indoor positioning using a single camera. In Proceedings of the 6th International Conference on Indoor Positioning and Indoor Navigation (IPIN 2015), pp. 1-9, Banff, AB, October 2015. DOI: 10.1109/IPIN.2015.7346756
R. Hewitt and J. A. Marshall. Towards intensity-augmented SLAM with LiDAR and ToF sensors. In Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015. DOI: 10.1109/IROS.2015.7353634
A. A. Dobson, J. A. Marshall, and J. Larsson. Admittance control for robotic loading: Underground field trials with an LHD. In Proceedings of the 10th Conference on Field and Service Robotics (FSR 2015), Toronto, ON, June 2015. Conference best paper award! DOI: 10.1007/978-3-319-27702-8_32
M. T. Ahmed, M. Mohamad, J. A. Marshall, and M. Greenspan. Registration of noisy point clouds using virtual interest points. In Proceedings of the 12th Conference on Computer and Robot Vision (CRV 2015), Halifax, NS, June 2015. Best vision paper award! DOI: 10.1109/CRV.2015.12
C. Watson and J. A. Marshall. Towards extracting absolute roughness from underground mine drift profile data. In Proceedings of the 37th International Symposium on the Application of Computers and Operations Research in the Mineral Industry (APCOM 2015), Fairbanks, AK, May 2015.
M. J. Gallant, J. A. Marshall, and B. K. Lynch. Estimating the heading of a Husky mobile robot with a LiDAR compass based on direction maps. Invited paper in Proceedings of the 2014 International Conference on Intelligent Unmanned Systems, Montreal, QC, September 2014.
C. Ingram and J. A. Marshall. 3D time-of-flight camera for surveying remote cavities mined with a jet boring system. In Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining, Montreal, QC, August 2013. Best paper award!
J. V. Simela, J. A. Marshall, and L. K. Daneshmend. Automated laser scanner 2D positioning and orienting by method of triangulateration for underground mine surveying. In Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining, Montreal, QC, August 2013.
D. Pike, S. Givigi, J. A. Marshall, A. Taylor, and A. Beaulieu. Robust vehicle routing policies using local communications and sensing. In Proceedings of the 2013 American Control Conference, pp. 6351-6357, Washington, DC, June 2013.
S. Radacina Rusu, J. A. Marshall, and M. J. D. Hayes. Localization in large-scale underground environments with RFID. In Proceedings of the 24th IEEE Canadian Conference on Electrical and Computer Engineering, pp. 1140-1143, Niagara Falls, ON, May 2011. DOI: 10.1109/CCECE.2011.6030640
M. Gallant, J. A. Marshall, and A. Ellery. Science-influenced mobile robot guidance using Bayesian networks. In Proceedings of the 24th IEEE Canadian Conference on Electrical and Computer Engineering, pp. 1135-1139, Niagara Falls, ON, May 2011. DOI: 10.1109/CCECE.2011.6030639
N. J. Lavigne, J. A. Marshall, and U. Artan. Towards underground mine drift mapping with RFID. In Proceedings of the 23rd IEEE Canadian Conference on Electrical and Computer Engineering, pp. 1-6, Calgary, AB, May 2010. DOI: 10.1109/CCECE.2010.5575165
U. Artan, N. J. Lavigne, and J. A. Marshall. Globally consistent mapping of large-scale passageway environments. In Proceedings of the 23rd IEEE Canadian Conference on Electrical and Computer Engineering, pp. 656-659, St. John’s, NL, May 2009. DOI: 10.1109/CCECE.2009.5090210
J. Larsson, J. Appelgren, J. A. Marshall, and T. D. Barfoot. Atlas Copco infrastructureless guidance system for high-speed autonomous underground tramming. In Proceedings of the 5th International Conference and Exhibition on Mass Mining (MassMin), pp. 585-594, Luleå, Sweden, June 2008.
J. A. Marshall and T. D. Barfoot. Design and field testing of an autonomous underground tramming system. In Proceedings of the 6th International Conference on Field and Service Robotics (FSR), pp. 393-402, Chamonix, France, July 2007. DOI: 10.1007/978-3-540-75404-6_50
J. A. Marshall and M. E. Broucke. On invariance of cyclic group symmetries in multiagent formations. In Proceedings of the Joint 44th IEEE Conference on Decision and Control and European Control Conference (CDC/ECC), pp. 746-751, Seville, Spain, December 2005.
J. A. Marshall, T. Fung, M. E. Broucke, G. M. T. D’Eleuterio and B. A. Francis. Experimental validation of multi-vehicle coordination strategies. In Proceedings of the 2005 American Control Conference (ACC), pp. 1090-1095, Portland, OR, June 2005.
J. A. Marshall, M. E. Broucke, and B. A. Francis. Unicycles in cyclic pursuit. In Proceedings of the 2004 American Control Conference (ACC), pp. 5344-5349, Boston, MA, July 2004.
J. A. Marshall, M. E. Broucke, and B. A. Francis. A pursuit strategy for wheeled-vehicle formations. In Proceedings of the 42nd IEEE Conference on Decision and Control (CDC), pp. 2555-2560, Maui, HI, December 2003.
Conference Papers (Abstract-Refereed)
P. C. Hungler, J. A. Marshall, J. S. Parent, E. A. Tremblay, M. Karan, and D. Clarke. Utilization of virtual reality for engineering discipline selection. In Proceedings of the 2019 Canadian Engineering Education Association Conference (CEEC-ACEG19), Ottawa, ON, June 2019.
J. M. Mitchell and J. A. Marshall. Design of a novel auto-rotating UAV platform for underground mine cavity surveying. In Proceedings of the 2017 SME Annual Conference & Expo and CMA’s 119th National Western Mining Conference & Exhibition, Denver, CO, February 2017.
E. Boukas, R. A. Hewitt, M. Pagnamenta, R. Nelen, M. Azkarate, J. A. Marshall, A. Gasteratos, and G. Visentin. HDPR: A mobile testbed for current and future rover technologies. In Proceedings of the 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016), Beijing, China, June 2016.
A. A. Dobson and J. A. Marshall. Autonomous digging: Reducing the impact of communications delay for planetary mining. Presented at the Planetary and Terrestrial Mining Sciences Symposium (PTMSS), Montreal, QC, May 2015.
D. Haviland and J. A. Marshall. Simulation of traffic flow in underground mine ramps. Presented at the CIM Conference & Exhibition, Edmonton, AB, May 2012.
S. Radacina Rusu, J. A. Marshall, and M. J. D. Hayes. Experiments in real-time map-based underground global positioning. In Proceedings of the CIM Conference & Exhibition, Montreal, QC, May 2011.
M. J. Gallant, A. Ellery, and J. A. Marshall. Exploring salience as an approach to rover-based planetary exploration. In Proceedings of the ASTRO 2010 Conference, Toronto, ON, May 2010.
J. Larsson, J. Appelgren, and J. A. Marshall. Next-generation system for unmanned LHD operation in underground mines. In Proceedings of the SME 100 Years of Mining Research Symposium, Phoenix, AZ, February 2010.
M. A. Swartz, A. Ellery, and J. A. Marshall. Towards adaptive localization for rover navigation using multilayer feedforward neural networks. In Proceedings of the ASTRO 2008 Conference, Montreal, QC, May 2008.
P. F. Murphy, J. A. Marshall, R. A. Hall, L. K. Daneshmend, and P. M. Wild. Advanced technologies for mobile underground equipment. In Proceedings of the 2002 CIM Mining Millennium Conference, Vancouver, BC, May 2002.
A. Dellah, P. M. Wild, B. W. Surgenor, and J. A. Marshall. A laboratory on the microprocessor control of a floating ping-pong ball. Poster given at the 2000 ASEE Annual Conference and Exposition. St. Louis, MO, June 2000.
Magazine Articles
J. A. Marshall. The robot revolution is here: How it’s changing jobs and businesses in Canada. In The Conversation, February 23, 2021.
Republished here in The National Post, February 24, 2021.
Republished here by Global News, February 27, 2021.
Republished here by Smith Business Insight, March 1, 2021.
J. A. Marshall. Navigating the advances in underground navigation. Invited article in CIM Magazine, vol. 5, no. 4, pp. 20-21, June/July 2010.
Scholarly Reports for Industry
J. Caldwell, R. Kealey, H. Fernando, and J. A. Marshall. Design requirements and operational concepts for a robotic underground scissor bolter. Technical report issued to Maclean Engineering under NSERC Engage project EGP 523529-18, October 30, 2018.
R. Hewitt and J. A. Marshall. LiDAR based navigation system prototype description and test report. Technical report issued to the European Space Agency (ESA) under contract 4000108490/13/NL/PA, January 21, 2015.
J. Mitchell, B. K. Lynch, and J. A. Marshall. Operational concepts and design requirements for an underground UAV platform. Technical report issued to Sprung-Brett RDI under NSERC Engage project EGP 462075-13, August 29, 2014.
A. A. Dobson, J. A. Marshall. Test results and recommendations from ST14 autoloading experiments at Kvarntorp. Technical report issued to Atlas Cocpo Rock Drills AB, July 10, 2014.
R. Hewitt and J. A. Marshall. State of the Art on SLAM, vehicle dynamics and feature detectors for LiDAR sensors. Technical report issued to the European Space Agency (ESA) under contract 4000108490/13/NL/PA, December 6, 2013.
T. D. Barfoot and J. A. Marshall. GN&C Strategies for Manned Lunar Mission Scenarios. Technical report issued to MacDonald, Detwiler and Associates, Inc. (MDA), Space Missions Division, July 2009.
J. A. Marshall, K. L. Moore, and L. K. Daneshmend. Scoping Study: Application of Automation Technologies for P&H’s IPCC (In-Pit Crushing and Conveying). Technical report issued to P&H Mining Equipment, Inc., April 2009.
U. Artan, N. J. Lavigne, and J. A. Marshall. Globally Consistent Mapping of Underground Environments: Concept Designs and Implementation. Technical report issued to MacDonald, Dettwiler and Associates Inc. (MDA), Space Missions, December 2008. Research funded in part by the Ontario Centres of Excellence (OCE) under project CA-IA-I50965-08.
J. Peck, J. A. Marshall, and R. A. Hall. Overview of Automation in the Mining Industry and Recommendations for Orica’s Future Technology Focus. Report issued (in cooperation with LNH Technologies) to Orica Limited, November 2008.
A. Ellery and J. A. Marshall. Traction Design Options for the Lunar Exploration Manned Utility Rover (LEMUR). Technical report issued to MacDonald, Dettwiler and Associates, Inc. (MDA), Space Missions Division, May 2008.
J. A. Marshall and A. Ellery. Scalable Autonomy Options for the Lunar Exploration Manned Utility Rover (LEMUR). Technical report issued to MacDonald, Dettwiler and Associates, Inc. (MDA), Space Missions Division, May 2008.
R. A. Hall, L. K. Daneshmend, and J. A. Marshall. Final Report: Follow-on Reliability Analysis and Production Simulation of Diamond Drills. Technical report issued to the Mines Research Department, Inco Ltd., Copper Cliff, ON, May 2000.
R. A. Hall, L. K. Daneshmend, and J. A. Marshall. Progress Report: Follow-on Reliability Analysis and Production Simulation of Diamond Drills. Technical report issued to the Mines Research Department, Inco Ltd., Copper Cliff, ON, July 1999.
Academic Theses
J. A. Marshall. Coordinated Autonomy: Pursuit Formations of Multivehicle Systems. Ph.D. Thesis, Department of Electrical and Computer Engineering, University of Toronto, Toronto, ON, September 2005 (advisors: Bruce Francis and Mireille Broucke).
J. A. Marshall. Towards Autonomous Excavation of Fragmented Rock: Experiments, Modelling, Identification and Control. M.Sc.(Eng.) Thesis, Department of Mechanical Engineering, Queen’s University, Kingston, ON, August 2001.