Publications

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2021
M. Mohammadi, Bicego, D., Franchi, A., Barcelli, D., and Prattichizzo, D., “Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control”, Applied Sciences, Special issue on Aerial Robotics for Inspection and Maintenance, vol. 11, 2021.
A. Coelho, Sarkisov, Y., Wu, X., Mishra, H., Singh, H., Dietrich, A., Franchi, A., Kondak, K., and Ott, C., “Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation”, Journal of Intelligent & Robotic Systems, vol. 102, 2021.
2020
G. Michieletto, Cenedese, A., Zaccarian, L., and Franchi, A., “Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction”, Automatica, 2020.PDF icon preprint-pdf (3.63 MB)
A. Petitti, Sanalitro, D., Tognon, M., Milella, A., Cortés, J., and Franchi, A., “Inertial Estimation and Energy-Efficient Control of a Cable-suspended Load with a Team of UAVs”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020.PDF icon preprint-pdf (2.08 MB)
D. Bicego, Mazzetto, J., Farina, M., Carli, R., and Franchi, A., “Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs”, Journal of Intelligent and Robotic Systems, vol. 100, pp. 1213-1247, 2020.PDF icon preprint-pdf (17.6 MB)
2019
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.PDF icon preprint-pdf (6.86 MB)File video-1 (10.22 MB)File video-2 (17.98 MB)File video-3 (13.97 MB)
G. Michieletto, Cenedese, A., and Franchi, A., “Force-Moment Decoupling and Rotor-Failure Robustness for Star-Shaped Generically-Tilted Multi-Rotors”, in In 58th IEEE Conference on Decision and Control, Nice, France, 2019.
A. Franchi, Robuffo Giordano, P., and Michieletto, G., “Online Leader Selection for Improved Collective Tracking and Formation Control: the Second Order Case”, IEEE Transactions on Control of Network Systems, vol. 6, no. 4, pp. 1415-1425, 2019.PDF icon preprint-pdf (1.53 MB)
M. Tognon, Tello Chavez, H., 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)File video (23.61 MB)
2018
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)
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)
V. Arellano-Quintana, Merchan-Cruz, E., and Franchi, A., “A Novel Experimental Model and a Drag-optimal Allocation Method for Variable-Pitch Propellers in Multirotors”, IEEE Access, vol. 6, pp. 68155-68168, 2018.PDF icon preprint-pdf (5.4 MB)
C. Masone, Mohammadi, M., Robuffo Giordano, P., and Franchi, A., “Shared Planning and Control for Mobile Robots with Integral Haptic Feedback”, The International Journal of Robotics Research, vol. 37, no. 11, pp. 1395-1420, 2018.PDF icon preprint-pdf (16.41 MB)File video-1-hil-simulations (9.17 MB)File video-2-experiments (22.12 MB)File video-3-user-study (23.48 MB)
C. Masone, Mohammadi, M., Robuffo Giordano, P., and Franchi, A., “Shared Planning and Control for Mobile Robots with Integral Haptic Feedback”, The International Journal of Robotics Research, vol. 37, no. 11, pp. 1395-1420, 2018.PDF icon preprint-pdf (16.41 MB)File video-1-hil-simulations (9.17 MB)File video-2-experiments (22.12 MB)File video-3-user-study (23.48 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)
2017
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)
A. Franchi and Mallet, A., “Adaptive Closed-loop Speed Control of BLDC Motors with Applications to Multi-rotor Aerial Vehicles”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017.PDF icon preprint-pdf (1.54 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)
G. Michieletto, Cenedese, A., Zaccarian, L., and Franchi, A., “Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction”, in 20th IFAC World Congress, Toulouse, France, 2017.PDF icon preprint-pdf (1.04 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)
2016
G. Michieletto, Cenedese, A., and Franchi, A., “Bearing Rigidity Theory in SE(3)”, in 55th IEEE Conference on Decision and Control, Las Vegas, NV, 2016, pp. 5950-5955.PDF icon 2016o-MicCenFra-preprint.pdf (204.99 KB)
M. Mohammadi, Franchi, A., Barcelli, D., and Prattichizzo, D., “Cooperative Aerial Tele-Manipulation with Haptic Feedback”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 5092-5098.PDF icon preprint-pdf (2.51 MB)File video (4.03 MB)
2015
B. Yüksel, Mahboubi, S., Secchi, C., Bülthoff, H. H., and Franchi, A., “Design, Identification and Experimental Testing of a Light-Weight Flexible-joint Arm for Aerial Physical Interaction”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 870-876.PDF icon preprint-pdf (1.28 MB)File video (10 MB)
G. Gioioso, Mohammadi, M., Franchi, A., and Prattichizzo, D., “A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 318-324.PDF icon preprint-pdf (5.77 MB)File video (9.13 MB)
2014
G. Gioioso, Salvietti, G., Franchi, A., Malvezzi, M., Scheggi, S., Meli, L., Ryll, M., Bülthoff, H. H., and Prattichizzo, D., “The Flying Hand: a Teleoperation Framework for Cooperative Aerial Grasping and Transportation”, Automatica.it 2014, Convegno Annuale dei Docenti e Ricercatori Italiani in Automatica. Bergamo, Italy, 2014.
G. Gioioso, Salvietti, G., Franchi, A., Malvezzi, M., Scheggi, S., Meli, L., Ryll, M., Bülthoff, H. H., and Prattichizzo, D., “The Flying Hand: a Teleoperation Framework for Cooperative Aerial Grasping and Transportation”, Automatica.it 2014, Convegno Annuale dei Docenti e Ricercatori Italiani in Automatica. Bergamo, Italy, 2014.
C. Masone, Robuffo Giordano, P., Bülthoff, H. H., and Franchi, A., “Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6468-6475.PDF icon preprint-pdf (3.45 MB)File video (9.23 MB)
2013
A. Censi, Franchi, A., Marchionni, L., and Oriolo, G., “Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots”, IEEE Transaction on Robotics, vol. 29, no. 2, pp. 475-492, 2013.PDF icon preprint-pdf (1.71 MB)
2012
C. Masone, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., “Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots”, in 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, 2012, pp. 2641-2648.PDF icon preprint-pdf (2.15 MB)File video (9.02 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)
C. Masone, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., “Shared Trajectory Planning for Human-in-the-loop Navigation of Mobile Robots in Cluttered Environments”, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
A. Franchi, Masone, C., and Robuffo Giordano, P., “A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation”, 2012 IEEE IROS Work. on Real-time Motion Planning: Online, Reactive, and in Real-time. Vilamoura, Portugal, 2012.PDF icon pdf-preprint (1.63 MB)
2011
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)
2008
A. Franchi, Freda, L., Marchionni, L., Oriolo, G., and Vendittelli, M., “Decentralized cooperative exploration: Implementation and experiments”, in 10th Int. Conf. on Intelligent Autonomous Systems, Baden-Baden, Germany, 2008, pp. 348-355.PDF icon pdf (634.37 KB)