Research
Systems control and estimation; robotic vehicles engineering; coordinated control of multivehicle systems; planetary rovers and mining robotics.
Application
Mobile equipment capable of autonomous operation is of particular relevance in remote, harsh, uncertain, and dynamic environments where human presence is either not possible, hindered in some way, or highly undesirable (e.g., due to safety considerations).Dr. Marshall’s current research focuses primarily on robotic vehicle systems for the mining industry and planetary rover applications.
Activities
- Organizing Committee Member, 34th Conference on Applications of Computers and Operations Research in the Minerals Industry (APCOM 2009)
- First-Year Instructors’ Committee, Carleton University
- Member, Institute for Electrical and Electronics Engineers (IEEE)
- Member, Canadian Institute of Mining, Metallurgy, and Petroleum (CIM)
- Licensed Member, Association of Professional Engineers Ontario
Journal Articles
J.A. Marshall, and M.E. Broucke (2008), “Symmetry invariance in multiagent formations in self-pursuit,” IEEE Transactions on Automatic Control 3(9): 2022-2032.
J.A. Marshall, P.F. Murphy, and L.K. Daneshmend (2008), “Toward autonomous excavation: Full-scale experiments,” IEEE Transactions on Automation Science and Engineering 5(3): 562-566.
J.A. Marshall, T.D. Barfoot, and J. Larsson (2008), “Autonomous underground tramming for center-articulated vehicles,” Journal of Field Robotics 25(6-7): 400-421.
Conference Publications
J. Marshall, U. Artan, N.J. Lavigne, J. Bakambu, T. Nguyen, and R. Mukherji, “Robotic mapping of underground drift networks,” 34th Conference on Applications of Computers and Operations Research in the Minerals Industry (APCOM 2009), Oct 2009 (publication pending).
U. Artan, N.J. Lavigne, and J.A. Marshall, “Globally consistent mapping of large-scale passageway environments,” 22nd IEEE Canadian Conference on Electrical and Computer Engineering, May 2009.
J. Larsson, J. Appelgren, J.A. Marshall, and T.D. Barfoot, “Atlas Copco infrastructureless guidance system for high-speed autonomous underground tramming,” 5th International Conference and Exhibition on Mass Mining, Jun 2008.
M.A. Swartz, A. Ellery, and J.A. Marshall, “Towards adaptive localization for rover navigation using multilayer feedforward neural networks,” ASTRO 2008, May 2008.
J.A. Marshall, and T.D. Barfoot, “Design and field testing of an autonomous underground tramming system,” 6th International Conference on Field and Service Robotics, Jul 2007.
Patents
T.D. Barfoot, and J.A. Marshall (2007), “Traffic management system for a passageway environment,” International patent #WO/2007/012199.
T.D. Barfoot, J.A. Marshall, R. Mukherji, and R. Ward (2007), “Guidance, navigation, and control system for a vehicle,” International patent #WO/2007/012198.