@inbook {2019d-Fra,
	title = {Interaction Control of Platforms with Multi-directional Total Thrust},
	booktitle = {Aerial Robotic Manipulation},
	volume = {129},
	number = {STAR},
	year = {2019},
	month = {06/2019},
	pages = {175-189},
	publisher = {Springer},
	organization = {Springer},
	chapter = {3.6},
	abstract = {The chapter provides an overview of the basic modeling and the intrinsic properties of aerial platforms with multi-directional total thrust ability. When also fully-actuated, such platforms can modify the total wrench in body frame in any direction, thus allowing the control of position and orientation independently. There- fore, they are best suited for dexterous tasks, physical interaction, and for carrying aerial manipulators, because they do not suffer from the underactuation of standard collinear multirotors. The chapter includes a rigorous classification, a discussion on the possible input coupling, and on the capabilities and pitfalls of inverse-dynamics control approach for such platforms.},
	doi = {10.1007/978-3-030-12945-3},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019d-Fra-preprint.pdf},
	author = {Antonio Franchi}
}
