Publications

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2018
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)
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)
C. Gabellieri, Tognon, M., Palottino, L., and Franchi, A., A Study on Force-based Collaboration in Flying Swarms, in 11th Int. Conf. on Swarm Intelligence ANTS 2018, Rome, Italy, 2018.PDF icon preprint-pdf (6.78 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)
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)
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
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)
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)
2014
A. Franchi, Petitti, A., and Rizzo, A., Distributed Estimation of the Inertial Parameters of an Unknown Load via Multi-Robot Manipulation, in 53rd IEEE Conference on Decision and Control, Los Angeles, CA, 2014, pp. 6111-6116.PDF icon preprint-pdf (1.13 MB)
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)
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, Ryll, M., Prattichizzo, D., Bülthoff, H. H., and Franchi, A., Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6278-6284.PDF icon preprint-pdf (1.2 MB)File video (8.81 MB)
2010
F. Pasqualetti, Franchi, A., and Bullo, F., On Optimal Cooperative Patrolling, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 7153-7158.PDF icon pdf (465.44 KB)