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G. Michieletto, Cenedese, A., and Franchi, A., Bearing Rigidity Theory in SE(3), in 55th IEEE Conference on Decision and Control, Las Vegas, NV, 2016, pp. 5950-5955.PDF icon 2016o-MicCenFra-preprint.pdf (204.99 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)
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)
G. Michieletto, Cenedese, A., Zaccarian, L., and Franchi, A., Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction, in 20th IFAC World Congress, Toulouse, France, 2017.PDF icon preprint-pdf (1.04 MB)
G. Michieletto, Cenedese, A., and Franchi, A., Force-Moment Decoupling and Rotor-Failure Robustness for Star-Shaped Generically-Tilted Multi-Rotors, in In 58th IEEE Conference on Decision and Control, Nice, France, 2019.
G. Michieletto, Cenedese, A., Zaccarian, L., and Franchi, A., Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction, Automatica, 2020.PDF icon preprint-pdf (3.63 MB)