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Joshua A. Marshall

(He/Him)

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Professor of Electrical & Computer Engineering, Queen's University, Ontario

Joshua A. Marshall, Ph.D., P.Eng., is a multi-disciplinary engineering scientist, educator, and technical consultant with expertise in systems control engineering, mobile robotics, autonomous off-road driving, vehicle navigation and mapping. Dr. Marshall has a particular interest and experience in mining, construction, and planetary robotics. He currently serves as founding Director at the Ingenuity Labs Research Institute at Queen's University and is a founding member of the NSERC Canadian Robotics Network (NCRN). Prior to returning to academia, Dr. Marshall worked as a control systems engineer on both planetary and terrestrial robotics projects at the Canadian robotics firm MacDonald, Dettwiler and Associates (MDA). He is currently a Senior Member of the Institute for Electrical and Electronics Engineers (IEEE) and 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 (Sweden) and RockMass Technologies (Canada).

Experience

  • 2021–present
    Professor, Queen's University, Ontario
  • 2016–2021
    Associate professor, Queen's University, Ontario
  • 2016–2017
    Visiting professor, Örebro University, Sweden
  • 2010–2016
    Assistant Professor, Queen's University, Ontario
  • 2008–2010
    Assistant Professor, Carleton University, Ontario
  • 2005–2008
    Control Systems Engineer, MacDonald, Dettwiler and Associates (MDA), Ontario
  • 1996–1997
    Engineering Assistant, Stantec, Ontario

Education

  • 2005 
    University of Toronto, PhD, Electrical and Computer Engineering
  • 2001 
    Queen's University, MSc, Mechanical Engineering
  • 1999 
    Queen's University , BSc, Mine/Mechanical Engineering

Publications

  • 2023
    Learning-based model predictive control for improved mobile robot path following using Gaussian processes and feedback linearization, Journal of Field Robotics
  • 2022
    How to pick a mobile robot simulator: A quantitative comparison of CoppeliaSim, Gazebo, MORSE and Webots with a focus on accuracy of motion, Simulation Modelling Practice and Theory
  • 2022
    Multiple mobile robot task and motion planning: A survey, Computing Surveys
  • 2022
    Multi-view video-based 3D hand pose estimation, IEEE Transactions on Artificial Intelligence
  • 2021
    Point cloud registration using virtual interest points from Macaulay’s resultant of quadric surfaces, Journal of Mathematical Imaging and Vision
  • 2020
    Towards a novel auto-rotating UAV platform for cavity surveying, Tunnelling and Underground Space Technology
  • 2020
    What lies beneath: Material classification for autonomous excavators using proprioceptive force sensing and machine learning, Automation in Construction
  • 2019
    Iterative learning-based admittance control for autonomous excavation, Journal of Intelligent and Robotic Systems
  • 2019
    Experiments in feedback linearized iterative learning-based path following for center-articulated industrial vehicles, Journal of Field Robotics
  • 2018
    The Katwijk beach planetary rover dataset, The International Journal of Robotics Research
  • 2018
    Estimating underground mine ventilation friction factors from low-density 3D data acquired by a moving LiDAR, International Journal of Mining Science and Technology
  • 2017
    Admittance control for robotic loading: Design and experiments with a 1-tonne loader and a 14-tonne LHD, Journal of Field Robotics
  • 2016
    On the design and selection of vehicle coordination policies for underground mine production ramps, International Journal of Mining Science and Technology
  • 2016
    Automated rapid mapping of joint orientations with mobile LiDAR, International Journal of Rock Mechanics and Mining Sciences
  • 2016
    Two-dimensional axis mapping using LiDAR, IEEE Transactions on Robotics
  • 2016
    The LiDAR Compass: Extremely lightweight heading estimation with axis maps, Robotics and Autonomous Systems
  • 2015
    Evaluation of a ToF camera for remote surveying of underground cavities excavated by jet boring, Automation in Construction
  • 2015
    Fundamental behaviours of production traffic in underground mine haulage ramps, International Journal of Mining Science and Technology
  • 2014
    Automatic identification of large fragments in a pile of broken rock using a time-of-flight camera, IEEE Transactions on Automation Science and Engineering
  • 2013
    Rover-based autonomous science by probabilistic identification and evaluation, Journal of Intelligent & Robotic Systems
  • 2012
    A landmark-bounded method for large-scale underground mine mapping, Journal of Field Robotics
  • 2011
    Robotic mapping of underground mine passageways, Transactions of the IMM (Part A): Mining Technology
  • 2011
    Periodic formations of multivehicle systems, IET Control Theory & Applications
  • 2008
    Toward autonomous excavation: Full-scale experiments, IEEE Transactions on Automation Science and Engineering
  • 2008
    Symmetry invariance of multiagent formations in self-pursuit, IEEE Transactions on Automatic Control
  • 2008
    Autonomous underground tramming for center-articulated vehicles, Journal of Field Robotics
  • 2006
    Experiments in multirobot coordination, Robotics and Autonomous Systems
  • 2006
    Pursuit formations of unicycles, Automatica
  • 2004
    Formations of vehicles in cyclic pursuit, IEEE Transactions on Automatic Control

Grants and Contracts

  • 2023
    Mobile-Robot Navigation, Control, and Mapping in Spatiotemporal Worlds
    Role:
    Principal Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2020
    AI for Rail Infrastructure Thermal Stress Condition Asessment
    Role:
    Co-Investigator
    Funding Source:
    National Research Council Canada
  • 2020
    Building Trust in Connected Autonomous Vehicles
    Role:
    Co-Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2019
    Off-Road Multi-Vehicle Autonomy for Challenging Outdoor Environments
    Role:
    Principal Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2018
    Design Requirements and Operational Concepts for a Robotic Underground Scissor Bolter
    Role:
    Principal Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2018
    NSERC Canadian Robotics Network (NCRN)
    Role:
    Co-Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2016
    Fully Autonomous Operation of Load-Haul-Dump Machines
    Role:
    Co-Investigator
    Funding Source:
    KK-stiftelsen “Strategic knowledge enhancement 15”
  • 2015
    Multi-Robot Tools and Techniques for Exploration and Mobile Surveying
    Role:
    Principal Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2014
    Operational Concepts and Design Requirements for a Novel Underground UAV-Based Exploration Platform
    Role:
    Principal Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2014
    Robotic Loading Experiments
    Role:
    Contractor
    Funding Source:
    Atlas Copco Rock Drills AB
  • 2013
    Robust and Continuous Localisation and Mapping for Mars Sample Return using LiDAR
    Role:
    Contractor
    Funding Source:
    European Space Agency
  • 2013
    uGPS: 3D Mapping, Real-Time Localization, and Machine Coordination in Underground Mines
    Role:
    Principal Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2013
    NSERC Canadian Field Robotics Network (NCFRN)
    Role:
    Co-Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2011
    Cooperative Mining Machines Research Testbed
    Role:
    Principal Investigator
    Funding Source:
    Canada Foundation for Innovation
  • 2011
    Technologies and Techniques for Earth and Space Exploration
    Role:
    Co-Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2010
    Mine Traffic Optimization
    Role:
    Co-Investigator
    Funding Source:
    Mitacs
  • 2010
    KAPVIK: Smart Reconfigurable All-Terrain Multi-Mission Microrover
    Role:
    Subcontractor
    Funding Source:
    MPB Communications Inc.
  • 2009
    Concept and Experiments for an Underground GPS Technology
    Role:
    Principal Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2009
    Theory and Applications of Cooperative Navigation
    Role:
    Principal Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2008
    Mapping Concept for an Underground GPS Technology
    Role:
    Principal Investigator
    Funding Source:
    Ontario Centres of Excellence

Professional Memberships

  • Professional Engineer, Professional Engineers Ontario (PEO)
  • Senior Member, Institute for Electrical and Electronics Engineers (IEEE)

Research Areas

  • Control Systems, Robotics And Automation (090602)