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P. Tokekar, Isler, V., and Franchi, A., Multi-Target Visual Tracking with UAVs, in 2014 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Chicago, IL, 2014, pp. 656-661.PDF icon preprint-pdf (499.72 KB)
M. Tognon, Gabellieri, C., Pallottino, L., and Franchi, A., Aerial Co-Manipulation with Cables: The Role of Internal Force for Equilibria, Stability, and Passivity, IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, no. 3, pp. 2577-2583, 2018.
Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
PDF icon preprint-pdf (4.84 MB)
M. Tognon, Dash, S. S., and Franchi, A., Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 732-737, 2016.
Also selected for presentation at the 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm , Sweden
PDF icon preprint-pdf (1.42 MB)File video (8.54 MB)
M. Tognon, Chávez, H. A. Tello, Gasparin, E., Sablé, Q., Bicego, D., Mallet, A., Lany, M., Santi, G., Revaz, B., Cortés, J., and Franchi, A., A Truly Redundant Aerial Manipulator System with Application to Push-And-Slide Inspection in Industrial Plants, IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1846-1851, 2019.PDF icon preprint-pdf (4.39 MB)PDF icon video (4.39 MB)
M. Tognon and Franchi, A., Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform, in 20th IFAC World Congress, Toulouse, France, 2017.PDF icon preprint-pdf (1.24 MB)
M. Tognon and Franchi, A., Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots, in 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, Germany, 2015, pp. 1852-1857.PDF icon preprint-pdf (1.45 MB)File video (8.31 MB)
M. Tognon and Franchi, A., Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Theory, Optimal Design, and Control, IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2277-2282, 2018.PDF icon preprint-pdf (3.44 MB)
M. Tognon, Yüksel, B., Buondonno, G., and Franchi, A., Dynamic Decentralized Control for Protocentric Aerial Manipulators, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017, pp. 6375-6380.PDF icon preprint-pdf (3.63 MB)File video (8.49 MB)
M. Tognon and Franchi, A., Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots, in 14th European Control Conference, Linz, Austria, 2015, pp. 1620-1625.PDF icon preprint-pdf (307.59 KB)
M. Tognon and Franchi, A., Landing and take-off on/from sloped and non-planar surfaces with more than 50 degrees of inclination, in 2017 International Micro Air Vehicle Conference, Toulouse, France, 2017, pp. 97-102.PDF icon preprint-pdf (3.57 MB)
M. Tognon, Testa, A., Rossi, E., and Franchi, A., Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon, South Korea, 2016, pp. 1702-1707.PDF icon preprint-pdf (974.21 KB)File video (28.46 MB)
M. Tognon and Franchi, A., Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 3994-3999.PDF icon preprint-pdf (224.15 KB)File video (8.84 MB)
M. Tognon, Cataldi, E., Tello Chavez, H., Antonelli, G., Cortés, J., and Franchi, A., Control-Aware Motion Planning for Task-Constrained Aerial Manipulation, IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, no. 3, pp. 2478-2484, 2018.
Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
PDF icon preprint-pdf (5.54 MB)File video (8.07 MB)
M. Tognon and Franchi, A., Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars, IEEE Transaction on Robotics, vol. 33, no. 4, pp. 834-845, 2017.PDF icon arXiv-pdf-v2 (1.44 MB)