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Joshua Marshall

Professor

he/him, MSc, PhD, PEng

Ingenuity Labs Research Institute

Electrical & Computer Engineering

Smith Engineering

joshua.marshall@queensu.ca

+1 613-533-2921

Walter Light Hall, Room 413

Josh in the field with a big mining truck.Joshua Marshall, PhD, PEng, SMIEEE, was born in Iqaluit (ᐃᖃᓗᐃᑦ) and was raised in St. Lucia (Caribbean), Edmonton (Alberta), Winnipeg (Manitoba), and North Bay (Ontario). Dr. Marshall is a robotics engineer, educator, and consultant with expertise in data-driven systems control engineering, mobile robotics, autonomous vehicle navigation and mapping.  He has a special interest in and experience with autonomous robot applications 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 where he started the multidisciplinary Offroad Robotics research group and, most recently, lead the collaborative robotics and artificial intelligence-focused Ingenuity Labs Research Institute as its inaugural Director (2018-24).  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 (2019-23) and as 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 founded the Robotic Vehicles Group. Before that, he served as an R&D/Control Systems Engineer on both space and terrestrial robotics projects at the firm MacDonald, Dettwiler, and Associates (MDA), Inc., where he worked on advanced field and mobile robotics projects for industry clients in Canada, the US, Australia, and Scandinavia.

Dr. Marshall is a Senior Member of the IEEE.  He served (2019-22) 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).  He was 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 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’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 (formerly Atlas Copco AB) and spin-off RockMass Technologies, Inc.  Dr. Marshall is 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 beautiful Kingston where they are the proud parents of Owen, Maeve, and Finn.

Visit the Offroad Robotics Publications page for a complete list of publications and QSpace for free preprint downloads.

Selected Publications

D. Jenkins and J. A. Marshall. This is the way: Mitigating the roll of an autonomous uncrewed surface vessel in wavy conditions using model predictive control.  In Proceedings of the 2024 IEEE/RSJ International Conference on Robots and Systems (IROS), October 2024. [arXiv:2408.15349]

S. Villemure, J. Silvera, and J. A. Marshall. Terrain classification for the Spot quadrupedal mobile robot using only proprioceptive sensing.  In Proceedings of the 2024 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE), Kingston, Canada, August 2024.
    
E. Taylor, T. M. C. Sears, and J. A. Marshall. Experiments in decentralized multivehicle localization using ultra-wideband transceivers.  In Proceedings of the 2024 IEEE Canadian Conference on Electrical & Computer Engineering (CCECE), Kingston, Canada, August 2024.

T. M. C. Sears, M. R. Cooper, S. Button, and J. A. Marshall.  OtterROS: Picking and programming an uncrewed surface vessel for experimental field robotics research with ROS 2.  In Proceedings of the Workshop on Field Robotics at the 2024 IEEE International Conference on Robotics and Automation (ICRA) on April 4, 2024. [arXiv:2404.05627]

K. Wang, S. Givigi, and J. A. Marshall. Monkey see, monkey do: Constant time delay leader following for wheeled mobile robots using uncertainty-tuned model predictive control.  In Proceedings of the 2024 IEEE International Systems Conference (SysCon), April 2024. [IEEE Xplore, Preprint PDF]

H. Fernando, F. Sun, K. Wang, J. A. Marshall, and N. Hoult.  Design and field testing of a prototype mobile robot for the automatic installation of fibre on rail.  Technical report issued to the National Research Council of Canada (NRC) under Collaborative Research & Development grant SC-AI4L-118-1, October 20, 2023 (32 pages).

T. M. C. Sears, M. R. Cooper, and J. A. Marshall. Mapping waves with an uncrewed surface vessel via Gaussian process regression. Proceedings of the 2023 IEEE International Conference on Robotics & Automation (ICRA), London, UK, May-June 2023. [IEEE Xplore, Preprint PDF]

D. Sacoransky, K. Hashtrudi-Zaad, and J. A. Marshall. Towards unsupervised filtering of millimetre-wave radar returns for autonomous vehicle road following. Proceedings of the 2023 IEEE International Conference on Robotics & Automation (ICRA), London, UK, May-June 2023. [IEEE Xplore, 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. Proceedings of the 2023 IEEE International Conference on Robotics & Automation (ICRA), London, UK, May-June 2023. [IEEE Xplore]

J. Wang, M. Fader, and J. A. Marshall. Learning-based model predictive control for improved mobile robot path following using Gaussian processes and feedback linearization.  In Journal of Field Robotics, accepted January 31, 2023. DOI: 10.1002/rob.22165

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

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. DOI: 10.1109/IROS47612.2022.9981548 [Preprint PDF]

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.

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.

J. Caldwell. Towards Efficient Hydraulic Manipulator Control using Learning-Based Model Predictive Control.  M.A.Sc. Thesis, Department of Electrical & Computer Engineering, Queen’s University, December 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.  DOI: 10.1109/IROS51168.2021.9636755

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. DOI: 10.1109/MFI52462.2021.9591167

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. DOI: 10.1109/AIM46487.2021.9517696

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. DOI: 10.1109/ICRA48506.2021.9562029

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

J. A. Marshall. The robot revolution is here: How it’s changing jobs and businesses in Canada.  In The Conversation, February 23, 2021.

  • Republished in The National Post, February 24, 2021.
  • Republished by Global News, February 27, 2021.
  • Republished by Smith Business Insight, March 1, 2021.
  • Also republished in The Kingston Whig-Standard, The Winnipeg Free Press, and several other outlets.

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

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 for Intelligent Systems, 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. DOI: 10.1109/CCECE47787.2020.9255828

J. Marshall.  Mining robotics.  Invited chapter in the Springer Encyclopedia of Robotics.  Published online April 12, 2020.  DOI: 10.1007/978-3-642-41610-1_35-1

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

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

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

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. 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.

M. T. Ahmed, M. Greenspan, M. Asif, J. A. Marshall.  Robust apple segmentation using fuzzy logic. In Proceedings of the 2018 5th IEEE International Multi-Topic ICT Conference (IMTIC), Jamshoro, Pakistan, April 2018. DOI: 10.1109/IMTIC.2018.8467275

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

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.

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.  DOI: 10.1109/IROS.2017.8206089

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.  DOI: 10.1007/978-3-319-67361-5

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.

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

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

M. Pasternak and J. A. Marshall. On the design and selection of vehicle coordination policies for underground mine production ramps.  In International Journal of Mining Science and Technology, vol. 26, no. 5, September 2016.  DOI: 10.1016/j.ijmst.2016.05.014

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.

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

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.

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. 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.  DOI: 10.1016/j.autcon.2014.08.013

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.

R. Hewitt and B. Lynch.  Lunar prospecting: Autonomous localization of volatiles on the Moon with a mobile robot.  In Proceedings of the 12th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2014), Montreal, QC, June 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

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.

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.

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.

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.  DOI: 10.1002/rob.21415

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.

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.

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.

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.

J. A. Marshall. Navigating the advances in underground navigation. Invited article in CIM Magazine, vol. 5, no. 4, pp. 20-21, June/July 2010.

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.

M. 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.

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 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.

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.

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, 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 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. Formations of vehicles in cyclic pursuit. IEEE Transactions on Automatic Control, vol. 49, no. 11, pp. 1963-1974, November 2004.

J. A. Marshall, Z. Lin, M. E. Broucke, and B. A. Francis. Pursuit strategies for autonomous agents. Invited chapterin 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

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.

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.

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.

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.

Dr. Marshall leads the Offroad Robotics research group and was the founding Director of the Ingenuity Labs Research Institute (2018-2024)  For more about Dr. Marshall's research visit the Projects page and see his list of Publications.

Technical Expertise & Interests

  • Field and service robotics
  • Data-driven control systems engineering
  • State estimation for robotics
  • Spatiotemporal mapping and SLAM
  • Mobile robot control and navigation
  • Autonomous vehicles engineering
  • Mining robotics and automation
  • Planetary and space robotics
  • Aquatic (freshwater and marine) robotics

Professional Affiliations

Upcoming, Active, and Recently Taught

ELEC 446 Mobile Robotics (F2024)

MREN 203 Mechatronics & Robotics Design II (W 2023, W2024)
ELEC 845 Autonomous Vehicle Control & Navigation (W 2020, F 2020, W 2022, W 2023)

ELEC 299 Mechatronics Project (W 2022)
ELEC 443 Linear Control Systems (F 2019)

Design Team Advising

Currently faculty advisor for the aQuatonomous ASV Design Club.

Currently faculty advisor (with B. Surgenor, K. Hashtrudi-Zaad, and M. Greeff) for the Queen's AutoDrive Challenge II Team in the SAE/GM AutoDrive II Challenge competition.

Previous (2010-2021) faculty advisor for the Queen's Space Engineering Team (QSET).

Previously Taught

MINE 855 Autonomous Ground Vehicles Engineering (W 2018-19)
MINE 472 Mining Systems, Automation & Robotics (W 2016-19)
MINE 471 Mine-Mechanical Design Project (W 2012, FW 2012-13, W 2014-16, 2018-19)
APSC 200 Engineering Design and Practice II (F 2011-13, 2018)
MINE 202 Instrumentation & Computer Applications in Mining (F 2010-13, 2017, 2018)
MINE 853 Mining Robotics (W 2012-16)
MINE 459 Reliability, Maintenance, & Risk Assessment (F 2014-15)
MINE 201 Introduction to Mining & Mineral Processing (F 2011-15)
MINE 852 Mine Mechanization & Automation (W 2011)

MECH 5504 Guidance, Navigation, & Control (W 2008-10 at Carleton)
ECOR 1010 Introduction to Engineering (F 2008-09 at Carleton)
MAAE 4500 Feedback Control Systems (F 2008 at Carleton)

Royal Legacy Society Tea Talk (2024)

Media Articles

Imagining our Digital Future (2018)

Coordinates

c/o Ingenuity Labs Research Institute
Mitchell Hall, Room 395
69 Union Street, Kingston, ON K7L 3N6 Canada
joshua.marshall@queensu.ca
Tel: +1 613-533-2921

Office: Mitchell Hall, Room 385 (inside Ingenuity Labs)

Recruitment

If you are an exceptional student and interested in robotics research then you are welcome to send inquiries to Joshua Marshall and complete this form. You will not receive a response unless you are under consideration for a position.  If you are a prospective graduate student then you are also strongly encouraged to apply (early) for scholarship funding through NSERC, OGS, and others.

If you are an international student (i.e., not a Canadian citizen or landed immigrant): Due to the large number of applications that we receive, we kindly ask that you first apply online to the Queen’s School of Graduate Studies before we consider your application to join our research group.  This allows us to more easily understand your qualifications.