Publications

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Conference Paper
M. Hamandi, Tognon, M., and Franchi, A., “Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles”, in 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France, 2020.PDF icon preprint-pdf (1.7 MB)File video (16.98 MB)
M. Hamandi, Sawant, K., Tognon, M., and Franchi, A., “Omni-Plus-Seven (O7+): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-directional Thrusters”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020.PDF icon preprint-pdf (4.36 MB)File video (10.59 MB)
M. Hamandi, Sablé, Q., Tognon, M., and Franchi, A., “Understanding the Omnidirectional Capability of a Generic Multi-rotor Aerial Vehicle”, in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Biograd na Moru, Croatia, 2021.
Journal Article
A. Ollero, Heredia, G., Franchi, A., Antonelli, G., Kondak, K., Sanfeliu, A., Viguria, A., de Dios, J. R. Martine, Pierri, F., Cortés, J., Santamaria-Navarro, A., Trujillo, M. A., Balachandran, R., Andrade-Cetto, J., and Rodriguez, A., “The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance”, IEEE Robotics and Automation Magazine, Special Issue on Floating-base (Aerial and Underwater) Manipulation, vol. 25, no. 4, pp. 12-23, 2018.PDF icon preprint-pdf (4.77 MB)
M. Hamandi, Usai, F., Sablé, Q., Staub, N., Tognon, M., and Franchi, A., “Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation”, The International Journal of Robotics Research, vol. 40, pp. 1015-1044, 2021.PDF icon preprint-pdf (12.72 MB)
E. Baskaya, Hamandi, M., Bronz, M., and Franchi, A., “A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure”, IEEE Robotics and Automation Letters, 2021.PDF icon preprint-pdf (4.29 MB)File video (13.92 MB)
D. Horla, Hamandi, M., Giernacki, W., and Franchi, A., “Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force”, IEEE Robotics and Automation Letters, vol. 6, pp. 3949-3955, 2021.PDF icon preprint-pdf (3.16 MB)File video (16.08 MB)
D. Horla, Hamandi, M., Giernacki, W., and Franchi, A., “Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force”, IEEE Robotics and Automation Letters, vol. 6, pp. 3949-3955, 2021.PDF icon preprint-pdf (3.16 MB)File video (16.08 MB)
Miscellaneous
T. Nestmeyer, Riedel, M., Lächele, J., Hartmann, S., Botschen, F., Robuffo Giordano, P., and Franchi, A., “Interactive Demo: Haptic Remote Control of Multiple UAVs with Autonomous Cohesive Behavior”, Int. Work. on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany, 2013.