Publications
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“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. preprint-pdf (771.41 KB)
, “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. preprint-pdf (2.51 MB) video (4.03 MB)
, “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.
, “Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction”, in 20th IFAC World Congress, Toulouse, France, 2017. preprint-pdf (1.04 MB)
, “Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction”, Automatica, 2020. preprint-pdf (3.63 MB)
, “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. preprint-pdf (2.98 MB) video (2.97 MB)
, “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.
, “Bearing Rigidity Theory in SE(3)”, in 55th IEEE Conference on Decision and Control, Las Vegas, NV, 2016, pp. 5950-5955. 2016o-MicCenFra-preprint.pdf (204.99 KB)
, “Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness”, IEEE Trans. on Robotics, vol. 34, no. 3, 2018. preprint-pdf (4.27 MB) video-1-explaination (708.53 KB) video-2-triggered_failures (7.25 MB) video-3-hitting_failure (4.71 MB)
, “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. preprint-pdf (16.41 MB) video-1-hil-simulations (9.17 MB) video-2-experiments (22.12 MB) video-3-user-study (23.48 MB)
, “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.
, “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. preprint-pdf (2.15 MB) video (9.02 MB)
, “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. preprint-pdf (3.45 MB) video (9.23 MB)
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