@article {2019e-TogTelGasSabBicMalLanSanRevCorFra,
	title = {A Truly Redundant Aerial Manipulator System with Application to Push-And-Slide Inspection in Industrial Plants},
	journal = {IEEE Robotics and Automation Letters},
	volume = {4},
	year = {2019},
	month = {04/2019},
	pages = {1846-1851},
	abstract = {We present the design, motion planning and control of an aerial manipulator for non-trivial physical interaction tasks, such as pushing while sliding on curved surfaces {\textendash} a task which is motivated by the increasing interest in autonomous non-destructive tests for industrial plants. The proposed aerial manipulator consists of a multidirectional-thrust aerial vehicle {\textendash} to enhance physical interaction capabilities {\textendash} endowed with a 2-DoFs lightweight arm {\textendash} to enlarge its workspace. This combination makes it a truly-redundant manipulator going beyond standard aerial manipulators based on collinear multi- rotor platforms. The controller is based on a PID method with a {\textquoteleft}displaced{\textquoteright} positional part that ensures asymptotic stability despite the arm elasticity. A kinodynamic task-constrained and control-aware global motion planner is used. Experiments show that the proposed aerial manipulator system, equipped with an Eddy Current probe, is able to scan a metallic pipe sliding the sensor over its surface and preserving the contact. From the measures, a weld on the pipe is successfully detected and mapped.},
	doi = {10.1109/LRA.2019.2895880},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019e-TogTelGasSabBicMalLanSanRevCorFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019e-TogTelGasSabBicMalLanSanRevCorFra.mp4},
	author = {Marco Tognon and Hermes Tello Chavez and Enrico Gasparin and Quentin Sabl{\'e} and Davide Bicego and Anthony Mallet and Marc Lany and Gilles Santi and Bernard Revaz and Juan Cort{\'e}s and Antonio Franchi}
}
@article {2018i-TogCatTelAntCorFra,
	title = {Control-Aware Motion Planning for Task-Constrained Aerial Manipulation},
	journal = {IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation},
	volume = {3},
	year = {2018},
	note = {Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia},
	month = {02/2018},
	pages = {2478-2484},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018i-TogCatTelAntCorFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018i-TogCatTelAntCorFra.mp4},
	author = {Marco Tognon and Elisabetta Cataldi and Hermes Tello Chavez and Gianluca Antonelli and Juan Cort{\'e}s and Antonio Franchi}
}
