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Joshua A. Marshall

Associate Professor of Mechatronics and Robotics 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 Interim 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), an Editor on the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Paper Review Board (CFRB), and a Technical Editor for the journal IEEE/ASME Transactions on Mechatronics.

Experience

  • 2016–present
    Associate Professor, Queen's University, Ontario
  • 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

  • 2021
    Point cloud registration using virtual interest points from Macaulay’s resultant of quadric surfaces, Journal of Mathematical Imaging and Vision
  • 2020
    What lies beneath: Material classification for autonomous excavators using proprioceptive force sensing and machine learning, Automation in Construction
  • 2020
    Towards a novel auto-rotating UAV platform for cavity surveying, Tunnelling and Underground Space Technology
  • 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
    Estimating underground mine ventilation friction factors from low-density 3D data acquired by a moving LiDAR, International Journal of Mining Science and Technology
  • 2018
    The Katwijk beach planetary rover dataset, The International Journal of Robotics Research
  • 2017
    Admittance control for robotic loading: Design and experiments with a 1-tonne loader and a 14-tonne LHD, Journal of Field Robotics
  • 2016
    Two-dimensional axis mapping using LiDAR, IEEE Transactions on Robotics
  • 2016
    Automated rapid mapping of joint orientations with mobile LiDAR, International Journal of Rock Mechanics and Mining Sciences
  • 2016
    On the design and selection of vehicle coordination policies for underground mine production ramps, International Journal of Mining Science and Technology
  • 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
    Autonomous underground tramming for center-articulated vehicles, Journal of Field Robotics
  • 2008
    Symmetry invariance of multiagent formations in self-pursuit, IEEE Transactions on Automatic Control
  • 2008
    Toward autonomous excavation: Full-scale experiments, IEEE Transactions on Automation Science and Engineering
  • 2006
    Pursuit formations of unicycles, Automatica
  • 2006
    Experiments in multirobot coordination, Robotics and Autonomous Systems
  • 2004
    Formations of vehicles in cyclic pursuit, IEEE Transactions on Automatic Control

Grants and Contracts

  • 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
    NSERC Canadian Robotics Network (NCRN)
    Role:
    Co-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
  • 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
    Robotic Loading Experiments
    Role:
    Contractor
    Funding Source:
    Atlas Copco Rock Drills AB
  • 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
  • 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
    Technologies and Techniques for Earth and Space Exploration
    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
  • 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
    Theory and Applications of Cooperative Navigation
    Role:
    Principal Investigator
    Funding Source:
    Natural Sciences and Engineering Research Council of Canada
  • 2009
    Concept and Experiments for an Underground GPS Technology
    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)