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P. Stegagno, Cognetti, M., Oriolo, G., Bülthoff, H. H., and Franchi, A., Ground and Aerial Mutual Localization using Anonymous Relative-Bearing Measurements, IEEE Transaction on Robotics, vol. 32, no. 5, pp. 1133-1151, 2016.PDF icon preprint-pdf (4.74 MB)File video (10.02 MB)
P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.63 MB)File video (9.59 MB)
P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., 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.
P. Stegagno, Cognetti, M., Franchi, A., and Oriolo, G., Mutual Localization using Anonymous Bearing Measurements, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 469-474.PDF icon preprint-pdf (1.24 MB)File video (4.73 MB)
P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.37 MB)
N. Staub and Franchi, A., Battery-aware Dynamical Modeling and Identification for the Total Thrust in Multi-rotor UAVs using only an Onboard Accelerometer, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 3341-3346.PDF icon preprint-pdf (779.35 KB)File video (8.85 MB)
N. Staub, Mohammadi, M., Bicego, D., Prattichizzo, D., and Franchi, A., Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017, pp. 1307-1312.PDF icon preprint-pdf (4.99 MB)File video (2.77 MB)
N. Staub, Mohammadi, M., Bicego, D., Delamare, Q., Yang, H., Prattichizzo, D., Robuffo Giordano, P., Lee, D., and Franchi, A., The Tele-MAGMaS: an Aerial-Ground Co-manipulator System, IEEE Robotics and Automation Magazine, vol. 25, no. 4, pp. 66-75, 2018.PDF icon preprint-pdf (5.52 MB)File video (21.39 MB)
N. Staub, Bicego, D., Sablé, Q., Arellano-Quintana, V., Mishra, S., and Franchi, A., Towards a Flying Assistant Paradigm: the OTHex, in 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane, Australia, 2018, pp. 6997-7002.PDF icon preprint-pdf (2.88 MB)File video (9.31 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)
R. Spica, Franchi, A., Oriolo, G., Bülthoff, H. H., and Robuffo Giordano, P., Aerial Grasping of a Moving Target with a Quadrotor UAV, in 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, 2012, pp. 4985-4992.PDF icon preprint-pdf (2.12 MB)File video (7.13 MB)
S. Spedicato, Notarstefano, G., Bülthoff, H. H., and Franchi, A., Aggressive Maneuver Regulation of a Quadrotor UAV, in Robotics Research, The 16th International Symposium ISRR, vol. 114, Springer, 2016, pp. 95-112.PDF icon preprint-pdf (934.12 KB)File video_no_sat (652.65 KB)File video_no_sat_zoom (1005.42 KB)File video_sat_8_5 (748.78 KB)File video_sat_8_5_zoom (1.43 MB)File video_sat_7 (646.52 KB)File video_sat_7_zoom (1.27 MB)
S. Spedicato, Franchi, A., and Notarstefano, G., 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.PDF icon preprint-pdf (1.58 MB)File video (9.15 MB)
H. I. Son, Kim, J., Chuang, L. L., Franchi, A., Robuffo Giordano, P., Lee, D., and Bülthoff, H. H., 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.PDF icon preprint-pdf (2.04 MB)
H. I. Son, Franchi, A., Chuang, L. L., Kim, J., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon preprint-pdf (4.95 MB)
H. I. Son, Chuang, L. L., Franchi, A., Kim, J., Lee, D., Lee, S. - W., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon preprint-pdf (1.2 MB)
Y. Solana, Furci, M., Cortés, J., and Franchi, A., Multi-Robot Path Planning with Maintenance of Generalized Connectivity, in The 1st Int. Symp. on Multi-Robot and Multi-Agent Systems, Los Angeles, CA, 2017.PDF icon preprint-pdf (2.56 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)
C. Secchi, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation, in 2013 IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, 2013.PDF icon preprint-pdf (1.95 MB)File video (4.73 MB)
F. Schiano, Franchi, A., Zelazo, D., and Robuffo Giordano, P., A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 5099-5106.PDF icon preprint-pdf (2.99 MB)File video (4.05 MB)
Y. Sarkisov, Kim, M. J., Bicego, D., Tsetserukou, D., Ott, C., Franchi, A., and Kondak, K., Development of SAM: cable-Suspended Aerial Manipulator, in 2019 IEEE Int. Conf. on Robotics and Automation, Montreal, Canada, 2019.PDF icon preprint-pdf (1.43 MB)
J. - L. - L. Sanchez-Lopez, Arellano-Quintana, V., Tognon, M., Campoy, P., and Franchi, A., Visual Marker based Multi-Sensor Fusion State Estimation, in 20th IFAC World Congress, Toulouse, France, 2017.PDF icon preprint-pdf (1.92 MB)