Publications

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Journal Article
A. Franchi, Secchi, C., Ryll, M., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon preprint-pdf (7.17 MB)
A. Franchi, Masone, C., Grabe, V., Ryll, M., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon preprint-pdf (3.81 MB)
G. Michieletto, Ryll, M., and Franchi, A., Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness, IEEE Trans. on Robotics, vol. 34, no. 3, 2018.PDF icon preprint-pdf (4.27 MB)File video-1-explaination (708.53 KB)File video-2-triggered_failures (7.25 MB)File video-3-hitting_failure (4.71 MB)
A. Franchi, Carli, R., Bicego, D., and Ryll, M., 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.PDF icon preprint-pdf (3.69 MB)File video-1 (21.32 MB)File video-2 (16.88 MB)File video-3 (4.22 MB)
M. Ryll, Muscio, G., Pierri, F., Cataldi, E., Antonelli, G., Caccavale, F., Bicego, D., and Franchi, A., 6D Interaction Control with Aerial Robots: The Flying End-Effector Paradigm, The International Journal of Robotics Research, vol. 38, no. 9, pp. 1045-1062, 2019.PDF icon preprint-pdf (6.86 MB)File video-1 (10.22 MB)File video-2 (17.98 MB)File video-3 (13.97 MB)
Conference Paper
G. Gioioso, Ryll, M., Prattichizzo, D., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.2 MB)File video (8.81 MB)
M. Ryll, Bicego, D., and Franchi, A., A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base, in 12th IFAC Symposium on Robot Control, Budapest, Hungary, 2018.PDF icon preprint-pdf (995.27 KB)
R. Spica, Robuffo Giordano, P., Ryll, M., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.24 MB)
S. Rajappa, Ryll, M., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (2.14 MB)File video (8.98 MB)
M. Ryll, Bicego, D., and Franchi, A., Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 1689-1694.PDF icon preprint-pdf (952.56 KB)File video (22.85 MB)
F. Morbidi, Bicego, D., Ryll, M., and Franchi, A., Energy-Efficient Trajectory Generation for a Hexarotor with Dual-Tilting Propellers, in 2018 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Madrid, Spain, 2018.PDF icon preprint-pdf (771.41 KB)
G. Michieletto, Ryll, M., and Franchi, A., Control of Statically Hoverable Multi-Rotor Aerial Vehicles and Application to Rotor-Failure Robustness for Hexarotors, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017.PDF icon preprint-pdf (2.98 MB)File video (2.97 MB)
M. Ryll, Muscio, G., Pierri, F., Cataldi, E., Antonelli, G., Caccavale, F., and Franchi, A., 6D Physical Interaction with a Fully Actuated Aerial Robot, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017, pp. 5190-5195.PDF icon preprint-pdf (3.04 MB)File video (9.52 MB)