Publications | Offroad Robotics

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. To appear 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. To appear 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. To appear 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]

OtterROS code on GitHub: github.com/offroad-robotics/otter_ros

M. R. Cooper. Data-Driven Nonlinear Model Predictive Control of an Autonomous Uncrewed Surface Vessel. M.A.Sc. Thesis, Department of Electrical & Computer Engineering, Queen's University, March 2024.

K. Wang. Constant Time Delay Leader Following for Mobile Robots by using Model Predictive Control Tuned on Estimation Uncertainties. M.A.Sc. Thesis, Department of Electrical & Computer Engineering, Queen's University, January 2024.

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]

F. Marrato. Sound Source Tracking as a Heuristic for Frontier Exploration in Search and Rescue using a Quadruped Mobile Robot. M.A.Sc. Thesis, Department of Electrical & Computer Engineering, Queen's University, January 2024.

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).

D. Sacoransky. Autonomous Vehicle Localization Using Automotive Radar and Reflective Lane Markers. M.A.Sc. Thesis, Department of Electrical & Computer Engineering, Queen's University, October 2023.

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]

Code on GitHub: github.com/offroad-robotics/rt-fmt-icra

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. To appear in Journal of Field Robotics, accepted January 31, 2023. DOI: 10.1002/rob.22165

J. Baker. Multi-Vehicle Cooperation over Rough Terrain: Experiments with Passive Coupling. M.A.Sc. Thesis, Department of Mechanical & Materials Engineering, Queen’s University, November 2022.

U. Artan. Automatic Classification of Fragmented Rock using Proprioceptive Sensing. Ph.D. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, October 2022.

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

Code on GitHub: https://github.com/offroad-robotics/robot-simulator-comparison

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.

D. Khalatyan. Towards Modularity and Reconfigurability for Robotic Off-Highway Equipment: A Proof-of-Concept Prototype. M.A.Sc. Thesis, Department of Mechanical & Materials Engineering, Queen’s University, April 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.

L. Khaleghi. Deep Learning for Touchless Human-Computer Interaction using 3D Hand Pose Estimation. M.A.Sc. Thesis, Department of Electrical & Computer Engineering, Queen’s University, March 2022.

O. Mayuku. Self-Supervised Near-to-Far Learning for Terrain-Adaptive Off-Road Autonomous Driving. Ph.D. Thesis, Department of Mechanical & Materials Engineering, Queen’s University, February 2022.

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

J. Roy. Autonomous Ground Vehicle Guidance and Mapping in Challenging Terrains by using On-Board Vibration Measurements. M.A.Sc. Thesis, Department of Electrical & Computer Engineering, Queen’s University, July 2021.

Code on GitHub: github.com/offroad-robotics/gpr-lib

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.

H. Fernando. Control and Learning for Robotic Excavation. Ph.D. Thesis, Department of Mechanical & Materials Engineering, Queen’s University, January 2021.

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

J. Kulchyk. Security by Design: Reducing Information Exchange in Multi-Agent Search Tasks. M.A.Sc. Thesis, Department of Electrical & Computer Engineering, Queen’s University, January 2021.

M. Fader. Autonomous Ground Vehicle Path Following by Combining Feedback Linearization with Model Predictive Control. M.A.Sc. Thesis, Department of Mechanical & Materials Engineering, Queen’s University, December 2020.

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

N. Pandillapally. Force-Based Control of UGVs by Using Physical Human-Robot Interaction. M.A.Sc. Thesis, Department of Mechanical & Materials Engineering, Queen’s University, September 2020.

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.

L. Dekker. Industrial-Scale Autonomous Wheeled-Vehicle Path Following by Combining Iterative Learning Control with Feedback Linearization. M.A.Sc. Thesis, Department of Mechanical and Materials Engineering, Queen’s University, April 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

R. Hewitt. Intense Navigation: Using Active Sensor Intensity Observations To Improve Localization and Mapping. Ph.D. Thesis, Department of Electrical and Computer Engineering, Queen’s University, March 2018.

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. Mitchell. The Mapkey: Preliminary Design, Construction and Testing of a Novel UAV Platform for Cavity Surveying. M.A.Sc. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, July 2017.

M. T. Ahmed. Virtual Interest Points for Registration. Ph.D. Thesis, Department of Electrical and Computer Engineering, Queen’s University, May 2017.

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

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 & 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 & Computer Engineering, Queen’s University, September 2016.

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

R. L. Vanderbeck. A Bayesian Approach to Convergence Detection in Underground Excavations using LiDAR. M.A.Sc. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, April 2016.

C. Watson. Towards Estimating Friction Factors of Mine Drifts from Low Density Point Clouds. M.A.Sc. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, April 2016.

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. Visual Localization in Underground Mines and Indoor Environments using PnP. M.A.Sc. Thesis, Department of Electrical & Computer Engineering, Queen’s University, January 2016.

J. Simela. Towards Automated Underground Mine Surveying: Integration of Mobile Mapping with Georeferenced Geometric Beacons. Ph.D. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, January 2016.

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

A. A. Dobson. Autonomous Loading of Fragmented Rock: Admittance Control for Robotic Digging. Ph.D. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, January 2015.

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

C. Ingram. Remote Surveying of Underground Cavities Excavated by Jet Boring. M.A.Sc. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, October 2014.

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.

V. Vukovic. Reducing Haul Truck Fuel Consumption in Open Pit Mines by Strategic Changes to the Haulage Cycle. M.A.Sc. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, September 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.

B. Owens. Concept Design and Testing of a GPS-Less System for Autonomous Shovel-Truck Spotting. M.A.Sc. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, January 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

D. Pike. Dynamic Vehicle Routing using Local Communications and Sensing: An Approach to Cooperative Control. M.A.Sc. thesis, Department of Electrical and Computer Engineering, Royal Military College of Canada, September 2012.

A. Chapman. A Field Study on Haul Time Variability in Open Pit Mines. M.A.Sc. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, August 2012.

D. Haviland. Simulation and Analysis of Traffic Flow in Underground Mine Ramps. B.A.Sc. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, April 2012.

M. Gallant. A probabilistic approach to autonomous planetary science with prime and scout rovers. M.A.Sc. thesis, Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, August 2011.

S. Radacina Rusu. Real-time localization in large-scale underground environments using RFID-based node maps. M.A.Sc. thesis, Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, August 2011.

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.

N. J. Lavigne. A landmark-bounded method for mapping of large-scale underground drift networks. M.A.Sc. thesis, Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, September 2010.

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. Algorithms and experiments for globally consistent mapping of underground passageway environments. M.A.Sc. thesis, Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, January 2010.