Offroad Robotics is part of the NSERC Canadian Field Robotics Network (NCFRN): a Canadian field robotics research network that spans eight universities and 14 partner organizations.  The network brings together academic, government, and industrial researchers to develop the science and technologies that will eventually allow teams of heterogeneous robots (on land, in the air, on the surface of or under water) to work collaborate in outdoor environments, and to communicate critical information to humans who operate or use them.

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This is a selection of photos from annual NCFRN Field Trials (2013-2016).

NCFRN-Related Publications

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.

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

G. Turner.  Towards Mapping of Rock Walls Using a UAV-Mounted 2D Laser Scanner in GPS Denied Environments.  M.A.Sc. Thesis, Department of Electrical and Computer Engineering, Queen’s University, October 2016.

M. J. Gallant.  Axis Mapping: The Estimation of Surface Orientations and its Applications in Vehicle Localization and Structural Geology.  Ph. D. Thesis, Department of Electrical and Computer Engineering, Queen’s University, September 2016.

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. 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

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

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. 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.  DOI: 10.1109/TASE.2014.2308011