Publications
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Filters: Author is Antonio Franchi [Clear All Filters]
“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.
, “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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“Experiments on Intercontinental Haptic Control of Multiple UAVs”, in 12th Int. Conf. on Intelligent Autonomous Systems, Jeju Island, Korea, 2012, pp. 227-238.
preprint-pdf (1.49 MB)
video (10.01 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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“Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs”, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
, “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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“Experimental Validation of a New Adaptive Control for Quadrotors”, in 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, 2013.
preprint-pdf (943.33 KB)
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“Interactive Demo: Haptic Remote Control of Multiple UAVs with Autonomous Cohesive Behavior”, 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.
, “An Open-Source Hardware/Software Architecture for Quadrotor UAVs”, in 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, Compiegne, France, 2013.
preprint-pdf (1.24 MB)
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“RGB-D based Haptic Teleoperation of UAVs with Onboard Sensors: Development and Preliminary Results”, in 2013 IROS Work. on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments, Tokyo, Japan, 2013.
, “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.
, “A Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 3862-3869.
preprint-pdf (1.63 MB)
video (9.59 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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“Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 4006-4013.
preprint-pdf (2.14 MB)
video (8.98 MB)
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“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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“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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“Towards Bilateral Teleoperation of Multi-Robot Systems”, 3rd Int. Work. on Human-Friendly Robotics. Tuebingen, Germany, 2010.
, “An Evaluation of Haptic Cues on the Tele-Operator’s Perceptual Awareness of Multiple UAVs’ Environments”, in IEEE World Haptics Conference, Istanbul, Turkey, 2011, pp. 149-154.
preprint-pdf (2.04 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance”, in 2011 Robotics: Science and Systems Conference, Los Angeles, CA, 2011.
preprint-pdf (1.8 MB)
video (14.5 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 3039-3046.
preprint-pdf (1.2 MB)
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“Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 163-170.
preprint-pdf (1.45 MB)
video (4.76 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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“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.
, “Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology”, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012.
preprint-pdf (4.11 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots”, IEEE Transactions on Systems, Man, & Cybernetics. Part B: Cybernetics, vol. 43, no. 2, pp. 597-609, 2013.
preprint-pdf (4.95 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology”, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.
preprint-pdf (1.46 MB)
video (4.01 MB)
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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.
preprint-pdf (3.81 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Experiments on Intercontinental Haptic Control of Multiple UAVs”, in 12th Int. Conf. on Intelligent Autonomous Systems, Jeju Island, Korea, 2012, pp. 227-238.
preprint-pdf (1.49 MB)
video (10.01 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars”, IEEE Transaction on Robotics, vol. 33, no. 4, pp. 834-845, 2017.
arXiv-pdf-v2 (1.44 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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.
, “Rigidity Maintenance Control for Multi-Robot Systems”, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012.
preprint-pdf (2.47 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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.
arXiv-pdf-v3-last-version (4.19 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 2703-2708.
preprint-pdf (410.91 KB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.
2009-Franchi_PhDThesis.pdf (14.02 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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)
video1 (880.59 KB)
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![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“An Evaluation of Haptic Cues on the Tele-Operator’s Perceptual Awareness of Multiple UAVs’ Environments”, in IEEE World Haptics Conference, Istanbul, Turkey, 2011, pp. 149-154.
preprint-pdf (2.04 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 3039-3046.
preprint-pdf (1.2 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots”, IEEE Transactions on Systems, Man, & Cybernetics. Part B: Cybernetics, vol. 43, no. 2, pp. 597-609, 2013.
preprint-pdf (4.95 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots”, IEEE Transactions on Systems, Man, & Cybernetics. Part B: Cybernetics, vol. 43, no. 2, pp. 597-609, 2013.
preprint-pdf (4.95 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms”, IEEE Transaction on Robotics, vol. 28, no. 3, pp. 592-606, 2012.
preprint-pdf (1.55 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“On Optimal Cooperative Patrolling”, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 7153-7158.
pdf (465.44 KB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.
2009-Franchi_PhDThesis.pdf (14.02 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots”, Autonomous Robots, vol. 41, no. 4, pp. 989-1011, 2017.
arXiv-pdf (3 MB)
video-experiment-quadrotors (19.94 MB)
video-sims-empty-space (3.86 MB)
video-sims-office-space (3.97 MB)
video-sims-town-space (4.68 MB)
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![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
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![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“Aerial Grasping of a Moving Target with a Quadrotor UAV”, in 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, 2012, pp. 4985-4992.
preprint-pdf (2.12 MB)
video (7.13 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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.
, “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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“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms”, IEEE Transaction on Robotics, vol. 28, no. 3, pp. 592-606, 2012.
preprint-pdf (1.55 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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.
pdf (836.33 KB)
video (3.03 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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
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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
![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures”, Department of Computer and System Sciences Antonio Ruberti, 2009.
pdf (1.29 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Decentralized cooperative exploration: Implementation and experiments”, in 10th Int. Conf. on Intelligent Autonomous Systems, Baden-Baden, Germany, 2008, pp. 348-355.
pdf (634.37 KB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“A Randomized Strategy for Cooperative Robot Exploration”, in 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, 2007, pp. 768-774.
pdf (802.55 KB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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.
pdf (1.26 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“On Optimal Cooperative Patrolling”, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 7153-7158.
pdf (465.44 KB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.
2009-Franchi_PhDThesis.pdf (14.02 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“Towards Bilateral Teleoperation of Multi-Robot Systems”, 3rd Int. Work. on Human-Friendly Robotics. Tuebingen, Germany, 2010.
, “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)
video1 (880.59 KB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“An Evaluation of Haptic Cues on the Tele-Operator’s Perceptual Awareness of Multiple UAVs’ Environments”, in IEEE World Haptics Conference, Istanbul, Turkey, 2011, pp. 149-154.
preprint-pdf (2.04 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance”, in 2011 Robotics: Science and Systems Conference, Los Angeles, CA, 2011.
preprint-pdf (1.8 MB)
video (14.5 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 3039-3046.
preprint-pdf (1.2 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Mutual Localization using Anonymous Bearing Measurements”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 469-474.
preprint-pdf (1.24 MB)
video (4.73 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
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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.
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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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“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.
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“Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 163-170.
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, Also selected for presentation at the 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm , Sweden
![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators”, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 331-338, 2020.
preprint-pdf (3.35 MB)
video (13.67 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand”, RSS 2013 Work. on Aerial Mobile Manipulation. Berlin, Germany, 2013.
, “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.
, “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.
preprint-pdf (553.49 KB)
video (7.15 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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.
preprint-pdf (1.28 MB)
video (10 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots”, in 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, Germany, 2015, pp. 1852-1857.
preprint-pdf (1.45 MB)
video (8.31 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform”, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 732-737, 2016.
preprint-pdf (1.42 MB)
video (8.54 MB)
, Also selected for presentation at the 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm , Sweden
![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators”, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 331-338, 2020.
preprint-pdf (3.35 MB)
video (13.67 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)