Publications

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Conference Paper
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)
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)
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)
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)
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)
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)
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)
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)
Journal Article
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.
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)
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, 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)
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)