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M. Furci, Nainer, C., Zaccarian, L., and Franchi, A., Input Allocation for the Propeller-Based Overactuated Platform ROSPO, IEEE Trans. on Control Systems Technology, vol. 18, no. 6, pp. 2720-2727, 2019.PDF icon preprint-pdf (3.05 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)
D. Zelazo, Robuffo Giordano, P., and Franchi, A., Bearing-Only Formation Control Using an SE(2) Rigidity Theory, in 54rd IEEE Conference on Decision and Control, Osaka, Japan, 2015, pp. 6121-6126.PDF icon preprint-pdf (1.61 MB)
D. Zelazo, Franchi, A., Allgöwer, F., Bülthoff, H. H., and Robuffo Giordano, P., Rigidity Maintenance Control for Multi-Robot Systems, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012.PDF icon preprint-pdf (2.47 MB)