MSL publications cover a broad range of topics, given the diversity of our membership.  We publish in high-quality, peer-reviewed international journals and conference proceedings, although we also strive to keep our work accessible to the public (e.g., through QSpace and other open access options).

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.  To appear in Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, BC, September 2017.

H. Fernando, J. A. Marshall, H. Ålmqvist, and J. Larsson.  Towards controlling bucket fill factor in robotic excavation by learning admittance control setpoints.  To appear in Proceedings of the 11th Conference on Field and Service Robotics (FSR 2017), Zürich, Switzerland, September 2017.

C. Watson and J. A. Marshall. Estimating underground mine ventilation friction factors from low-density 3D data acquired by a moving LiDAR.  To appear in the International Journal of Mining Science and Technology, accepted June 2, 2017.

M. T. Ahmed.  Registration of Noisy Point Clouds Using Virtual Interest Points.  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

2016

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 and 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 and 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 and 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.

2015

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

2014

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

2013

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.

2012

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.

2011

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.

2010

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.

Before 2010

For pre-2010 documents, please click here.