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Motion control of multiple robots
A. Franchi, Decentralized Methods for Cooperative Task Execution in Multi-robot Systems, "La Sapienza" University of Rome, 2009.PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)
A. Franchi, Robuffo Giordano, P., Secchi, C., Son, H. I., and Bülthoff, H. H., 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.PDF icon preprint-pdf (870.58 KB)File video (4.84 MB)
P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., 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.PDF icon preprint-pdf (1.45 MB)File video (4.76 MB)
A. Franchi, Masone, C., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon preprint-pdf (1.14 MB)File video (8.23 MB)
A. Franchi, Secchi, C., Son, H. I., Bülthoff, H. H., and Robuffo Giordano, P., Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012.PDF icon preprint-pdf (4.11 MB)
C. Secchi, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon preprint-pdf (1.46 MB)File video (4.01 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)
D. Zelazo, Franchi, A., Allgöwer, F., Bülthoff, H. H., and Robuffo Giordano, P., Rigidity Maintenance Control for Multi-Robot Systems, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012.PDF icon preprint-pdf (2.47 MB)
A. Franchi and Robuffo Giordano, P., 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.PDF icon preprint-pdf (798.4 KB)
P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance, The International Journal of Robotics Research, vol. 32, no. 3, pp. 299-323, 2013.PDF icon preprint-pdf (3.83 MB)File video1 (9.79 MB)
D. Lee, Franchi, A., Son, H. I., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon preprint-pdf (3.66 MB)
M. Riedel, Bülthoff, H. H., Franchi, A., and Robuffo Giordano, P., Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
T. Nestmeyer, Robuffo Giordano, P., Bülthoff, H. H., and Franchi, A., Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots, Autonomous Robots, vol. 41, no. 4, pp. 989-1011, 2017.PDF icon arXiv-pdf (3 MB)File video-experiment-quadrotors (19.94 MB)File video-sims-empty-space (3.86 MB)File video-sims-office-space (3.97 MB)File video-sims-town-space (4.68 MB)
T. Nestmeyer, Robuffo Giordano, P., and Franchi, A., 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. Franchi, Stegagno, P., and Oriolo, G., Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance, Autonomous Robots, vol. 40, no. 2, pp. 245-265, 2016.PDF icon arXiv-pdf-v2-last-version (4.71 MB)PDF icon arXiv-pdf-v1-first-version-(Old) (4.47 MB)
T. Nestmeyer, Robuffo Giordano, P., and Franchi, A., Human-assisted Parallel Multi-target Visiting in a Connected Topology, 6th Int. Work. on Human-Friendly Robotics. Rome, Italy, 2013.
D. Zelazo, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon arXiv-pdf-v3-last-version (4.19 MB)
G. Gioioso, Franchi, A., Salvietti, G., Scheggi, S., and Prattichizzo, D., Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand, RSS 2013 Work. on Aerial Mobile Manipulation. Berlin, Germany, 2013.
G. Gioioso, Franchi, A., Salvietti, G., Scheggi, S., and Prattichizzo, D., 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.PDF icon preprint-pdf (2.89 MB)File video (4.44 MB)
D. Zelazo, Franchi, A., and Robuffo Giordano, P., Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 2703-2708.PDF icon preprint-pdf (410.91 KB)
M. Gagliardi, Oriolo, G., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.82 MB)File video (13.1 MB)
A. Petitti, Franchi, A., Di Paola, D., and Rizzo, A., 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.PDF icon preprint-pdf (1.19 MB)File video (2.9 MB)