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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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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)
, ![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)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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.
, “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.
, “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)
“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)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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 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.
preprint-pdf (798.4 KB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance”, The International Journal of Robotics Research, vol. 32, no. 3, pp. 299-323, 2013.
preprint-pdf (3.83 MB)
video1 (9.79 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)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs”, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
, “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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“Multi-target Simultaneous Exploration with Continual Connectivity”, 2th Int. Work. on Crossing the Reality Gap - From Single to Multi- to Many Robot Systems, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany, 2013.
, “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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
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“Human-assisted Parallel Multi-target Visiting in a Connected Topology”, 6th Int. Work. on Human-Friendly Robotics. Rome, Italy, 2013.
, “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)
“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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“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)
“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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![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators”, in 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, 2016, pp. 441-446.
preprint-pdf (1.19 MB)
video (2.9 MB)
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“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)
“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)
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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.
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)
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![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
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“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)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
, ![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 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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)
“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)
“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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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)
“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)
“3D Mutual Localization with Anonymous Bearing Measurements”, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.
preprint-pdf (1.87 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“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.
preprint-pdf (798.4 KB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems”, in 2nd IFAC Workshop on Multivehicle Systems, Espoo, Finland, 2012.
preprint-pdf (1.09 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)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)