Publications
“Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits”, in 2022 IEEE Int. Conf. on Robotics and Automation, Philadelphia, PA, 2022.
, “Experimental Validation of a New Adaptive Control for Quadrotors”, in 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, 2013.
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“Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances”, IEEE Trans. on Control Systems Technology, vol. 26, no. 1, pp. 248–254, 2018.
, “A Novel Experimental Model and a Drag-optimal Allocation Method for Variable-Pitch Propellers in Multirotors”, IEEE Access, vol. 6, pp. 68155-68168, 2018.
preprint-pdf (5.4 MB)
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“Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC”, IEEE Robotics and Automation Letters, Special Issue on Shared Autonomy for Physical Human-Robot Interaction, vol. 6, pp. 7611-7618, 2021.
preprint-pdf (1.49 MB)
video (928.39 KB)
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“A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure”, IEEE Robotics and Automation Letters, 2021.
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video (13.92 MB)
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“Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs”, Journal of Intelligent and Robotic Systems, vol. 100, pp. 1213-1247, 2020.
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“Multi-Robot Localization via GPS and Relative Measurements in the Presence of Asynchronous and Lossy Communication”, in 15th European Control Conference, Aalborg, Denmark, 2016.
, “Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots”, IEEE Transaction on Robotics, vol. 29, no. 2, pp. 475-492, 2013.
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“Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View”, in 2021 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2021.
, “Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation”, Journal of Intelligent & Robotic Systems, vol. 102, 2021.
, “Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems”, in 2nd IFAC Workshop on Multivehicle Systems, Espoo, Finland, 2012.
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“3D Mutual Localization with Anonymous Bearing Measurements”, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.
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“A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles”, in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Biograd na Moru, Croatia, 2021.
, “Towards Aerial Physical Locomotion: the Contact-Fly-Contact Problem”, IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, pp. 1514-1521, 2018.
preprint-pdf (654.75 KB)
video (4.26 MB)
, Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
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“Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers”, Autonomous Robots, vol. 32, no. 1, pp. 81-95, 2012.
preprint-pdf (3.29 MB)
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“Distributed Pursuit-Evasion with Limited-Visibility Sensor Via Frontier-based Exploration”, in 2010 IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, 2010, pp. 3562-3568.
pdf (1.03 MB)
video (2.95 MB)
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“Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories”, IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 620-626, 2018.
preprint-pdf (6.21 MB)
video (10.14 MB)
, Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
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“Platforms with Multi-directional Total Thrust”, in Aerial Robotic Manipulation, Springer, 2019, pp. 53-65.
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“A Randomized Strategy for Cooperative Robot Exploration”, in 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, 2007, pp. 768-774.
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“A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation”, 2012 IEEE IROS Work. on Real-time Motion Planning: Online, Reactive, and in Real-time. Vilamoura, Portugal, 2012.
pdf-preprint (1.63 MB)
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“Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements”, The International Journal of Robotics Research, vol. 32, no. 11, pp. 1303-1322, 2013.
preprint-pdf (3.28 MB)
video (5.98 MB)
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“Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures”, in 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, St. Louis, MO, 2009, pp. 3974-3980.
pdf (1.93 MB)
video (3.52 MB)
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“Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance”, Autonomous Robots, vol. 40, no. 2, pp. 245-265, 2016.
arXiv-pdf-v2-last-version (4.71 MB)
arXiv-pdf-v1-first-version-(Old) (4.47 MB)
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“Distributed Target Localization and Encirclement with a Multi-robot System”, in 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010.
pdf (929.67 KB)
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“Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs.”, IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform, vol. 19, no. 3, pp. 57-68, 2012.
preprint-pdf (7.17 MB)
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“Interaction Control of Platforms with Multi-directional Total Thrust”, in Aerial Robotic Manipulation, vol. 129, Springer, 2019, pp. 175-189.
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“A decentralized strategy for cooperative robot exploration”, in ACM International Conference Proceeding Series, Proceedings of the 1st international conference on Robot communication and coordination, Athens, Greece, 2007, vol. 318.
pdf (2.67 MB)
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“Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots”, in Trends in Control and Decision-Making for Human-Robot Collaboration Systems, Springer, 2017, pp. 301-324.
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“On the Solvability of the Mutual Localization Problem with Anonymous Position Measures”, in 2010 IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, 2010, pp. 3193-3199.
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“Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements”, in 51th IEEE Conference on Decision and Control , Maui, HI, 2012, pp. 5310-5317.
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“Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.
2009-Franchi_PhDThesis.pdf (14.02 MB)
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“Distributed Estimation of State and Parameters in Multi-Agent Cooperative Manipulation”, IEEE Trans. on Control of Network Systems, vol. 6, no. 2, pp. 690-701, 2019.
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“Online Leader Selection for Improved Collective Tracking and Formation Maintenance”, IEEE Trans. on Control of Network Systems, vol. 5, no. 1, pp. 3-13, 2018.
arXiv-pdf (670.68 KB)
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“Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering”, The International Journal of Robotics Research, Special Issue on 3D Exploration, Mapping, and Surveillance, vol. 31, no. 12, pp. 1504-1525, 2012.
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“Online Leader Selection for Improved Collective Tracking and Formation Control: the Second Order Case”, IEEE Transactions on Control of Network Systems, vol. 6, no. 4, pp. 1415-1425, 2019.
preprint-pdf (1.53 MB)
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“Distributed Estimation of the Inertial Parameters of an Unknown Load via Multi-Robot Manipulation”, in 53rd IEEE Conference on Decision and Control, Los Angeles, CA, 2014, pp. 6111-6116.
preprint-pdf (1.13 MB)
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“Decentralized cooperative exploration: Implementation and experiments”, in 10th Int. Conf. on Intelligent Autonomous Systems, Baden-Baden, Germany, 2008, pp. 348-355.
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“Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology”, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012.
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“Adaptive Closed-loop Speed Control of BLDC Motors with Applications to Multi-rotor Aerial Vehicles”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017.
preprint-pdf (1.54 MB)
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“Towards Autonomous-collaborative and Haptic-tele-operated UAVs with Fully-onboard State Estimation and Physical Interaction Capabilities”, in 2013 IROS Work. on From Remotely-Controlled to Autonomous-Collaborative Robots, Tokyo, Japan, 2013.
, “Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures”, Department of Computer and System Sciences Antonio Ruberti, 2009.
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“Decentralized Bilateral Aerial Teleoperation of Multiple UAVs - Part I: a Top-Down Perspective”, RSS 2011 Workshop on 3D Exploration, Mapping, and Surveillance with Aerial Robots. Los Angeles, CA, 2011.
, “Multi-directional Thrust Aerial Rotor Vehicles”, in Encyclopedia of Robotics, Springer" pages =, 2023.
, “Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 5517-5522.
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“Probabilistic Mutual Localization in Multi-agent Systems from Anonymous Position Measures”, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 6534-6540.
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“Distributed Online Leader Selection in the Bilateral Teleoperation of Multiple UAVs”, in 50th IEEE Conference on Decision and Control , Orlando, FL, 2011, pp. 3559-3565.
preprint-pdf (1.2 MB)
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“The Sensor-based Random Graph Method for Cooperative Robot Exploration”, IEEE/ASME Transaction on Mechatronics, vol. 14, no. 2, pp. 163-175, 2009.
preprint-pdf (1.15 MB)
, Winner of the IEEE RAS ICYA Best Paper Award 2010 link
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“A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology”, in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011, pp. 898-905.
preprint-pdf (870.58 KB)
video (4.84 MB)
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“Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force”, IEEE Trans. on Robotics, vol. 34, no. 2, pp. 534-541, 2018.
preprint-pdf (3.69 MB)
video-1 (21.32 MB)
video-2 (16.88 MB)
video-3 (4.22 MB)
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“Bilateral Teleoperation of Multiple UAVs with Decentralized Bearing-only Formation Control”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 2215-2222.
preprint-pdf (1.14 MB)
video (8.23 MB)
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“Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms”, in 12th IFAC Symposium on Robot Control, Budapest, Hungary, 2018.
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“Input Allocation for the Propeller-Based Overactuated Platform ROSPO”, IEEE Trans. on Control Systems Technology, vol. 18, no. 6, pp. 2720-2727, 2019.
preprint-pdf (3.05 MB)
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“A Study on Force-based Collaboration in Swarms”, Swarm Intelligence, vol. 14, pp. 57-82, 2019.
preprint-pdf (18.52 MB)
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“A Study on Force-based Collaboration in Flying Swarms”, in 11th Int. Conf. on Swarm Intelligence ANTS 2018, Rome, Italy, 2018.
preprint-pdf (6.78 MB)
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“Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 1902-1908.
preprint-pdf (1.82 MB)
video (13.1 MB)
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“The Flying Hand: a Teleoperation Framework for Cooperative Aerial Grasping and Transportation”, Automatica.it 2014, Convegno Annuale dei Docenti e Ricercatori Italiani in Automatica. Bergamo, Italy, 2014.
, “Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand”, RSS 2013 Work. on Aerial Mobile Manipulation. Berlin, Germany, 2013.
, “The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 4335-4341.
preprint-pdf (2.89 MB)
video (4.44 MB)
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“A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 318-324.
preprint-pdf (5.77 MB)
video (9.13 MB)
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“Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6278-6284.
preprint-pdf (1.2 MB)
video (8.81 MB)
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“The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control”, in 6th European Conference on Mobile Robots, Barcelona, Spain, 2013.
pdf-preprint (1.19 MB)
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“Understanding the Omnidirectional Capability of a Generic Multi-rotor Aerial Vehicle”, in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Biograd na Moru, Croatia, 2021.
, “Omni-Plus-Seven (O7+): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-directional Thrusters”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020.
preprint-pdf (4.36 MB)
video (10.59 MB)
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“Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation”, The International Journal of Robotics Research, vol. 40, pp. 1015-1044, 2021.
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“Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles”, in 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France, 2020.
preprint-pdf (1.7 MB)
video (16.98 MB)
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“Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force”, IEEE Robotics and Automation Letters, vol. 6, pp. 3949-3955, 2021.
preprint-pdf (3.16 MB)
video (16.08 MB)
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“Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVs”, in 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France, 2020.
video (21.66 MB)
preprint-pdf (1.53 MB)
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“Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs”, IEEE Robotics and Automation Letters, vol. 7, pp. 2063-2070, 2022.
preprint-pdf (1.02 MB)
video (42.77 MB)
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“Motor and Perception Constrained NMPC for Torque-controlled Generic Aerial Vehicles”, IEEE Robotics and Automation Letters, vol. 6, pp. 518-525, 2021.
preprint-pdf (4.15 MB)
video (26.2 MB)
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“SwarmSimX: Real-time Simulation Environment for Multi-robot Systems”, in 3rd Int. Conf. on Simulation, Modeling, and Programming for Autonomous Robots, Tsukuba, Japan: , 2012.
preprint-pdf (1023.48 KB)
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“SwarmSimX and TeleKyb: Two ROS-integrated Software Frameworks for Single- and Multi-Robot Applications”, Int. Work. on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany, 2013.
, “Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet”, in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011, pp. 1341-1347.
preprint-pdf (1.34 MB)
video (4.92 MB)
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“Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles”, IEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics, vol. 18, no. 4, pp. 1334-1345, 2013.
preprint-pdf (3.66 MB)
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“Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6468-6475.
preprint-pdf (3.45 MB)
video (9.23 MB)
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“Shared Planning and Control for Mobile Robots with Integral Haptic Feedback”, The International Journal of Robotics Research, vol. 37, no. 11, pp. 1395-1420, 2018.
preprint-pdf (16.41 MB)
video-1-hil-simulations (9.17 MB)
video-2-experiments (22.12 MB)
video-3-user-study (23.48 MB)
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“Shared Trajectory Planning for Human-in-the-loop Navigation of Mobile Robots in Cluttered Environments”, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
, “Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots”, in 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, 2012, pp. 2641-2648.
preprint-pdf (2.15 MB)
video (9.02 MB)
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“Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction”, in 20th IFAC World Congress, Toulouse, France, 2017.
preprint-pdf (1.04 MB)
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“Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction”, Automatica, 2020.
preprint-pdf (3.63 MB)
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“Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Theory, Optimal Design, and Control”, IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2277-2282, 2018.
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“Dynamic Decentralized Control for Protocentric Aerial Manipulators”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017, pp. 6375-6380.
preprint-pdf (3.63 MB)
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“Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots”, in 14th European Control Conference, Linz, Austria, 2015, pp. 1620-1625.
preprint-pdf (307.59 KB)
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“Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform”, in 20th IFAC World Congress, Toulouse, France, 2017.
preprint-pdf (1.24 MB)
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“Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars”, IEEE Transaction on Robotics, vol. 33, no. 4, pp. 834-845, 2017.
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“Multi-Target Visual Tracking with UAVs”, in 2014 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Chicago, IL, 2014, pp. 656-661.
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“Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020.
preprint-pdf (947.92 KB)
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“Fast Mutual Relative Localization of UAVs using Ultraviolet LED markers”, in 2018 International Conference on Unmanned Aircraft Systems, Dallas, TX, 2018, pp. 1217-1226.
preprint-pdf (3.68 MB)
video (11.25 MB)
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“UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs”, IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2637-2644, 2019.
preprint-pdf (1.57 MB)
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“Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform”, in 14th IEEE International Conference on Automation Science and Engineering, Munich, Germany, 2018.
preprint-pdf (1.41 MB)
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“Modeling and Control of Multiple Aerial-Ground Manipulator System with Load Flexibility”, in 2018 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Madrid, Spain, 2018.
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“Aerial Physical Interaction via IDA-PBC”, The International Journal of Robotics Research, vol. 38, no. 4, pp. 403–421, 2019.
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“Reshaping the Physical Properties of a Quadrotor through IDA-PBC and its Application to Aerial Physical Interaction”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6258-6265.
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“Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 1667-1672.
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“Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-Joints”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 561-566.
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“A Nonlinear Force Observer for Quadrotors and Application to Physical Interactive Tasks”, in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besançon, France, 2014, pp. 433-440.
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“Design, Identification and Experimental Testing of a Light-Weight Flexible-joint Arm for Aerial Physical Interaction”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 870-876.
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“Rigidity Maintenance Control for Multi-Robot Systems”, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012.
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“Bearing-Only Formation Control Using an SE(2) Rigidity Theory”, in 54rd IEEE Conference on Decision and Control, Osaka, Japan, 2015, pp. 6121-6126.
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“Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 2703-2708.
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“Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems”, The International Journal of Robotics Research, vol. 34, no. 1, pp. 105-128, 2014.
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