Publications
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“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)
, 

“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)
, 

“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.
, “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)
, 

“Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand”, RSS 2013 Work. on Aerial Mobile Manipulation. Berlin, Germany, 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)
, 

“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)
, 

“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


“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)
, 

“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)
, 

“Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation”, in 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, Compiegne, France, 2013.
preprint-pdf (1.37 MB)
, 
“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)
, 

“Aggressive Maneuver Regulation of a Quadrotor UAV”, in Robotics Research, The 16th International Symposium ISRR, vol. 114, Springer, 2016, pp. 95-112.
preprint-pdf (934.12 KB)
video_no_sat (652.65 KB)
video_no_sat_zoom (1005.42 KB)
video_sat_8_5 (748.78 KB)
video_sat_8_5_zoom (1.43 MB)
video_sat_7 (646.52 KB)
video_sat_7_zoom (1.27 MB)
, 






“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)
, 

“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.
, “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)
, 

“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.
, “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)
, 

“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)
, 



“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)
, 
“From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots”, in 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, 2016, pp. 2965-2970.
preprint-pdf (1.58 MB)
video (9.15 MB)
, 

“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)
, 

“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)
, 

“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)
, 

“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)
, 

“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


“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)
, 

“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)
, 

“Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs”, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
, “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)
, 
“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)
, 

“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)
, 
“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)
, 

“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)
, 
“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)
, 

“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)
, 

“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)
, 

“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.
, “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.
, “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)
, 
“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)
, 

“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)
, 

“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)
, 

“Towards Bilateral Teleoperation of Multi-Robot Systems”, 3rd Int. Work. on Human-Friendly Robotics. Tuebingen, Germany, 2010.
, “Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation”, in 2013 IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, 2013.
preprint-pdf (1.95 MB)
video (4.73 MB)
, 

“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)
, 

“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.
, “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)
, 

“Human-assisted Parallel Multi-target Visiting in a Connected Topology”, 6th Int. Work. on Human-Friendly Robotics. Rome, Italy, 2013.
, “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)
, 

“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)
, 

“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)
, 
“Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots”, IEEE Transaction on Robotics, vol. 29, no. 2, pp. 475-492, 2013.
preprint-pdf (1.71 MB)
, 
“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)
, 

“Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots”, IEEE Transaction on Robotics, vol. 29, no. 2, pp. 475-492, 2013.
preprint-pdf (1.71 MB)
, 
“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 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)
, 




“Human-assisted Parallel Multi-target Visiting in a Connected Topology”, 6th Int. Work. on Human-Friendly Robotics. Rome, Italy, 2013.
, “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)
, 

“Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation”, in 2013 IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, 2013.
preprint-pdf (1.95 MB)
video (4.73 MB)
, 

“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.
, “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)
, 

“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

“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)
, 
“Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.
2009-Franchi_PhDThesis.pdf (14.02 MB)
, 
“On Optimal Cooperative Patrolling”, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 7153-7158.
pdf (465.44 KB)
, 
“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)
, 
“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)
, 

“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)
, 
“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)
, 

“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)
, 
“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)
, 

“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)
, 

“Rigidity Maintenance Control for Multi-Robot Systems”, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012.
preprint-pdf (2.47 MB)
, 
“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)
, 
“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)
, 
“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)
, 
“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)
, 
“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)
, 
“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)
, 

“Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.
2009-Franchi_PhDThesis.pdf (14.02 MB)
, 
“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)
, 
“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)
, 

“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)
, 

“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)
, 
“Towards Bilateral Teleoperation of Multi-Robot Systems”, 3rd Int. Work. on Human-Friendly Robotics. Tuebingen, Germany, 2010.
, “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)
, 

“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.
, “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)
, 

“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)
, 
“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)
, 

“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)
, 
“Towards Bilateral Teleoperation of Multi-Robot Systems”, 3rd Int. Work. on Human-Friendly Robotics. Tuebingen, Germany, 2010.
, “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)
, 

“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)
, 
“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)
, 

“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

“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)
, 
“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)
, 
“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)
, 
“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)
, 

“On Optimal Cooperative Patrolling”, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 7153-7158.
pdf (465.44 KB)
, 
“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)
, 
“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)
, 
“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)
, 

“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)
, 
“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)
, 

“Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.
2009-Franchi_PhDThesis.pdf (14.02 MB)
, 
“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)
, 
“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)
, 

“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)
, 
“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)
, 

“Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.
2009-Franchi_PhDThesis.pdf (14.02 MB)
, 
“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)
, 
“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)
, 
“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)
, 
“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)
, 

“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)
, 

“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)
, 

“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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“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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“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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“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.
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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.
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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.
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“Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.
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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.
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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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“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.
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“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.
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“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.
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“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.
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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.
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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.
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