@conference {2022b-AfiVanFra,
	title = {Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits},
	booktitle = {2022 IEEE Int. Conf. on Robotics and Automation},
	year = {2022},
	month = {05/2022},
	address = {Philadelphia, PA},
	author = {Amr Afifi and Mark van Holland and Antonio Franchi}
}
@conference {2021k-CorJacJimAfiSidFra,
	title = {A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles},
	booktitle = {2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)},
	year = {2021},
	month = {Oct.},
	address = {Biograd na Moru, Croatia},
	author = {Gianluca Corsini and Martin Jacquet and Antonio-Enrique Jimenez-Cano and Amr Afifi and Daniel Sidobre and Antonio Franchi}
}
@article {2019h-RylMusPieCatAntCacFra,
	title = {6D Interaction Control with Aerial Robots: The Flying End-Effector Paradigm},
	journal = {The International Journal of Robotics Research},
	volume = {38},
	year = {2019},
	pages = {1045-1062},
	doi = {10.1177/0278364919856694},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019h-RylMusPieCatAntCacFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019h-RylMusPieCatAntCacFra-1.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019h-RylMusPieCatAntCacFra-2.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019h-RylMusPieCatAntCacFra-3.mp4},
	author = {Markus Ryll and Giuseppe Muscio and Francesco Pierri and Elisabetta Cataldi and Gianluca Antonelli and Fabrizio Caccavale and Davide Bicego and Antonio Franchi}
}
@article {2017b-AntCatArrRobChiFra,
	title = {Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances},
	journal = {IEEE Trans. on Control Systems Technology},
	volume = {26},
	year = {2018},
	month = {01/2018},
	pages = {248{\textendash}254},
	abstract = {This paper presents an adaptive trajectory tracking control strategy for quadrotor Micro Aerial Vehicles (MAVs). The proposed approach, while maintaining the typical assumption of an orientation dynamics faster than the translational one, re- moves that of absence of external disturbances and of Geometric Center coincident with the Center of Mass. In particular, the trajectory tracking control law is made adaptive with respect to the presence of external forces and moments (due, e.g., to wind), and to the uncertainty of dynamic parameters such as the position of the center of mass of the vehicle. A stability analysis is provided to analytically support the proposed controller. Finally, numerical simulations and experimental evaluations, performed with a commercially-available quadrotor MAV, are provided in order to validate the performance of the proposed adaptive control strategy.},
	author = {Gianluca Antonelli and Elisabetta Cataldi and Filippo Arrichiello and Paolo Robuffo Giordano and Stefano Chiaverini and Antonio Franchi}
}
@article {2018m-OllHerFraAntKonSanVigSanTruBalAndRod,
	title = {The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance},
	journal = {IEEE Robotics and Automation Magazine, Special Issue on Floating-base (Aerial and Underwater) Manipulation},
	volume = {25},
	year = {2018},
	month = {12/2018},
	pages = {12-23},
	abstract = {This paper summarizes new aerial robotic manipu- lation technologies and methods, required for outdoor industrial inspection and maintenance, developed in the AEROARMS project. It presents aerial robotic manipulators with dual arms and multi-directional thrusters. It deals with the control systems, including the control of the interaction forces and the compliance, the teleoperation, which uses passivity to tackle the trade- off between stability and performance, perception methods for localization, mapping and inspection, and planning methods, including a new control-aware approach for aerial manipulation. Finally, it describes a novel industrial platform with multi- directional thrusters and a new arm design to increase the robustness in industrial contact inspections. The lessons learned in the application to outdoor aerial manipulation for inspection and maintenance are pointed out.},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018m-OllHerFraAntKonSanVigSanTruBalAndRod-preprint_3.pdf},
	author = {Anibal Ollero and Guillermo Heredia and Antonio Franchi and Gianluca Antonelli and Konstantin Kondak and Alberto Sanfeliu and Antidio Viguria and Jose R. Martinez-de Dios and Francesco Pierri and Juan Cort{\'e}s and A. Santamaria-Navarro and Miguel A. Trujillo and Ribin Balachandran and Juan Andrade-Cetto and Angel Rodriguez}
}
@article {2018i-TogCatTelAntCorFra,
	title = {Control-Aware Motion Planning for Task-Constrained Aerial Manipulation},
	journal = {IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation},
	volume = {3},
	year = {2018},
	note = {Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia},
	month = {02/2018},
	pages = {2478-2484},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018i-TogCatTelAntCorFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018i-TogCatTelAntCorFra.mp4},
	author = {Marco Tognon and Elisabetta Cataldi and Hermes Tello Chavez and Gianluca Antonelli and Juan Cort{\'e}s and Antonio Franchi}
}
@article {2018v-AreMerFra,
	title = {A Novel Experimental Model and a Drag-optimal Allocation Method for Variable-Pitch Propellers in Multirotors},
	journal = {IEEE Access},
	volume = {6},
	year = {2018},
	month = {11/2018},
	pages = {68155-68168},
	abstract = {This paper proposes a new mathematical model to map the rotational speed and angle of attack (pitch) of small- size propellers typically used in multirotors and the aerodynamic thrust force and drag moment produced by the propeller itself. The new model is inspired by standard models using the blade- element and momentum theories, which have been suitably modified in order to allow for explicit fast computation of the direct and inverse map (useful for high-frequency control) and obtain a better adherence to experimental data. The new model allows and captures all the main nonlinear characteristics of the thrust/drag generation. An extensive experimental comparison shows that the prediction capability of the proposed model outperforms the most commonly used models at date. In the second part of the paper, two optimization methods are proposed in order to exploit the redundancy of the inputs of variable-pitch propellers to decrease the power consumption due to the drag dissipation. The first method deals with optimal allocation for thrust generation on a single propeller, while the second method is aimed at solving the optimal allocation of the rotational speed and pitch of all the propellers in a multi-rotor with any number of propellers. Simulations results show the viability and effectiveness of the proposed methods.},
	doi = {10.1109/ACCESS.2018.2879636},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018v-AreMerFra-preprint.pdf},
	author = {Victor Arellano-Quintana and Emmanuel Merchan-Cruz and Antonio Franchi}
}
@conference {2018g-BicStaSabAreMisFra,
	title = {Towards a Flying Assistant Paradigm: the OTHex},
	booktitle = {2018 IEEE Int. Conf. on Robotics and Automation},
	year = {2018},
	month = {05/2018},
	pages = {6997-7002},
	address = {Brisbane, Australia},
	abstract = {This paper presents the OTHex platform for aerial manipulation developed at LAAS{\textendash}CNRS. The OTHex is probably the first multi-directional thrust platform designed to act as Flying Assistant which can aid human operators and/or Ground Manipulators to move long bars for assembly and maintenance tasks. The work emphasis is on task-driven custom design and experimental validations. The proposed control framework is built around a low-level geometric controller, and includes an external wrench estimator, an admittance filter, and a trajectory generator. This tool gives the system the necessary compliance to resist external force disturbances arising from contact with the surrounding environment or to parameter uncertainties in the load. A set of experiments validates the real-world applicability and robustness of the overall system.},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018g-BicStaSabAreMisFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018g-BicStaSabAreMisFra.mp4},
	author = {Nicolas Staub and Davide Bicego and Quentin Sabl{\'e} and Victor Arellano-Quintana and Subodh Mishra and Antonio Franchi}
}
@conference {2017e-RylMusPieCatAntCacFra,
	title = {6D Physical Interaction with a Fully Actuated Aerial Robot},
	booktitle = {2017 IEEE Int. Conf. on Robotics and Automation},
	year = {2017},
	month = {05/2017},
	pages = {5190-5195},
	address = {Singapore},
	abstract = {This paper presents the design, control, and experimental validation of a novel fully{\textendash}actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how the Tilt-Hex, a tilted-propeller hexarotor is able to control the full pose (position and orientation independently) using a geometric control, and to exert a full-wrench (force and torque independently) with a rigidly attached end-effector using an admittance control paradigm. An outer loop control governs the desired admittance behavior and an inner loop based on geometric control ensures pose tracking. The interaction forces are estimated by a momentum based observer. Control and observation are made possible by a precise control and measurement of the speed of each propeller. An extensive experimental campaign shows that the Tilt-Hex is able to outperform the classical underactuated multi-rotors in terms of stability, accuracy and dexterity and represent one of the best choice at date for tasks requiring aerial physical interaction.},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2017e-RylMusPieCatAntCacFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2017e-RylMusPieCatAntCacFra.mp4},
	author = {Markus Ryll and Giuseppe Muscio and Francesco Pierri and Elisabetta Cataldi and Gianluca Antonelli and Fabrizio Caccavale and Antonio Franchi}
}
@conference {2017h-SanAreTogCamFra,
	title = {Visual Marker based Multi-Sensor Fusion State Estimation},
	booktitle = {20th IFAC World Congress},
	year = {2017},
	month = {07/2017},
	address = {Toulouse, France},
	abstract = {This paper presents the description and experimental results of a versatile Visual Marker based Multi-Sensor Fusion State Estimation that allows to combine a variable optional number of sensors and positioning algorithms in a loosely-coupling fashion, incorporating visual markers to increase its performances. This technique allows an aerial robot to navigate in different environments and carrying out different missions with the same state estimation architecture, exploiting the best from every sensor. The state estimation algorithm has been successfully tested controlling a quadrotor equipped with an extra IMU and a RGB camera used only to detect visual markers. The entire framework runs on an onboard computer, including the controllers and the proposed state estimator. The whole software is made publicly available to the scientific community through an open source implementation.},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2017h-SanAreTogCamFra-preprint.pdf},
	author = {Jos{\'e}-Luis-L. Sanchez-Lopez and Victor Arellano-Quintana and Marco Tognon and Pascual Campoy and Antonio Franchi}
}
@conference {2013k-AntCatRobChiFra,
	title = {Experimental Validation of a New Adaptive Control for Quadrotors},
	booktitle = {2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {2013},
	month = {11/2013},
	address = {Tokyo, Japan},
	keywords = {UAV hardware platforms},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2013k-AntCatRobChiFra-preprint.pdf},
	author = {Gianluca Antonelli and Elisabetta Cataldi and Paolo Robuffo Giordano and Stefano Chiaverini and Antonio Franchi}
}
@conference {2012g-ZelFraAlgBueRob,
	title = {Rigidity Maintenance Control for Multi-Robot Systems},
	booktitle = {2012 Robotics: Science and Systems Conference},
	year = {2012},
	month = {07/2012},
	address = {Sydney, Australia},
	abstract = {Rigidity of formations in multi-robot systems is important for formation control, localization, and sensor fusion.  This work proposes a rigidity maintenance gradient controller for a multi-agent robot team.  To develop such a controller, we first provide an alternative characterization of the rigidity matrix and use that to introduce the novel concept of the rigidity eigenvalue.  We provide a necessary and sufficient condition relating the positivity of the rigidity eigenvalue to the rigidity of the formation.  The rigidity maintenance controller is based on the gradient of the rigidity eigenvalue with respect to each robot position.  This gradient has a naturally distributed structure, and is thus amenable to a distributed implementation.  Additional requirements such as obstacle and inter-agent collision avoidance, as well as typical constraints such as limited sensing/communication ranges and line-of-sight occlusions, are also explicitly considered.  Finally, we present a simulation with a group of seven quadrotor UAVs to demonstrate and validate the theoretical results.},
	keywords = {Decentralized control, Formation control, Motion control of multiple robots, Multi-robot systems, Rigidity mainenance},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012g-ZelFraAlgBueRob-preprint.pdf},
	author = {Daniel Zelazo and Antonio Franchi and Frank Allg{\"o}wer and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
