Publications by Year

For a type-based sorting go here

2023

  1. Franchi A. Multi-directional Thrust Aerial Rotor Vehicles. In Encyclopedia of Robotics. Springer" pages =; 2023.
  2. Pierri F, Franchi A. Cooperative Manipulation. In Encyclopedia of Robotics. Springer; 2023.

2022

  1. Afifi A, van Holland M, Franchi A. Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits. In 2022 IEEE Int. Conf. on Robotics and Automation. Philadelphia, PA; 2022.
  2. Sanalitro D, Tognon M, Jimenez-Cano A-E, Cortés J, Franchi A. Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator. IEEE Robotics and Automation Letters. 2022;7(3):6726-6733. PDF icon preprint-pdf (8.41 MB)File video  (24.24 MB)
  3. Jacquet M, Kivits M, Das H, Franchi A. Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs. IEEE Robotics and Automation Letters. 2022;7:2063-2070. PDF icon preprint-pdf (1.02 MB)File video (42.77 MB)

2021

  1. Hamandi M, Sablé Q, Tognon M, Franchi A. Understanding the Omnidirectional Capability of a Generic Multi-rotor Aerial Vehicle. In 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO). Biograd na Moru, Croatia; 2021.
  2. Corsini G, Jacquet M, Jimenez-Cano A-E, Afifi A, Sidobre D, Franchi A. A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles. In 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO). Biograd na Moru, Croatia; 2021.
  3. Coelho A, Sarkisov Y, Lee J, Balachandran R, Franchi A, Kondak K, et al.. Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View. In 2021 Int. Conf. on Unmanned Aircraft Systems. Athens, Greece; 2021.
  4. Jacquet M, Franchi A. Motor and Perception Constrained NMPC for Torque-controlled Generic Aerial Vehicles. IEEE Robotics and Automation Letters. 2021;6:518-525. PDF icon preprint-pdf (4.15 MB)File video (26.2 MB)
  5. Hamandi M, Usai F, Sablé Q, Staub N, Tognon M, Franchi A. Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation. The International Journal of Robotics Research. 2021;40:1015-1044. PDF icon preprint-pdf (12.72 MB)
  6. Ryll M, Bicego D, Giurato M, Lovera M, Franchi A. FAST-Hex - A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation. IEEE/ASME Transactions on Mechatronics. 2021;. PDF icon preprint-pdf (4.75 MB)File video (36.54 MB)
  7. Horla D, Hamandi M, Giernacki W, Franchi A. Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force. IEEE Robotics and Automation Letters. 2021;6:3949-3955. PDF icon preprint-pdf (3.16 MB)File video (16.08 MB)
  8. Barros Carlos B, Franchi A, Oriolo G. Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC. IEEE Robotics and Automation Letters, Special Issue on Shared Autonomy for Physical Human-Robot Interaction. 2021;6:7611-7618. PDF icon preprint-pdf (1.49 MB)File video (928.39 KB)
  9. Coelho A, Sarkisov Y, Wu X, Mishra H, Singh H, Dietrich A, et al.. Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation. Journal of Intelligent & Robotic Systems. 2021;102.
  10. Baskaya E, Hamandi M, Bronz M, Franchi A. A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure. IEEE Robotics and Automation Letters. 2021;. PDF icon preprint-pdf (4.29 MB)File video (13.92 MB)
  11. Ollero A, Tognon M, Suarez A, Lee D, Franchi A. Past, Present, and Future of Aerial Robotic Manipulators. IEEE Transactions on Robotics. 2021;. PDF icon preprint-pdf (9.4 MB)
  12. Mohammadi M, Bicego D, Franchi A, Barcelli D, Prattichizzo D. Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control. Applied Sciences, Special issue on Aerial Robotics for Inspection and Maintenance. 2021;11.

2020

  1. Tognon M, Franchi A. Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers. Springer Tracts in Advanced Robotics. 2020. PDF icon preprint-pdf (17.08 MB)
  2. Hamandi M, Tognon M, Franchi A. Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles. In 2020 IEEE Int. Conf. on Robotics and Automation. Paris, France; 2020. PDF icon preprint-pdf (1.7 MB)File video (16.98 MB)
  3. Jacquet M, Corsini G, Bicego D, Franchi A. Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVs. In 2020 IEEE Int. Conf. on Robotics and Automation. Paris, France; 2020. File video (21.66 MB)PDF icon preprint-pdf (1.53 MB)
  4. Umili E, Tognon M, Sanalitro D, Oriolo G, Franchi A. Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs. In 2020 Int. Conf. on Unmanned Aircraft Systems. Athens, Greece; 2020. PDF icon preprint-pdf (947.92 KB)File video (10.76 MB)
  5. Hamandi M, Sawant K, Tognon M, Franchi A. Omni-Plus-Seven (O7+): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-directional Thrusters. In 2020 Int. Conf. on Unmanned Aircraft Systems. Athens, Greece; 2020. PDF icon preprint-pdf (4.36 MB)File video (10.59 MB)
  6. Petitti A, Sanalitro D, Tognon M, Milella A, Cortés J, Franchi A. Inertial Estimation and Energy-Efficient Control of a Cable-suspended Load with a Team of UAVs. In 2020 Int. Conf. on Unmanned Aircraft Systems. Athens, Greece; 2020. PDF icon preprint-pdf (2.08 MB)
  7. Bicego D, Mazzetto J, Farina M, Carli R, Franchi A. Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs. Journal of Intelligent and Robotic Systems. 2020;100:1213-1247. PDF icon preprint-pdf (17.6 MB)
  8. Michieletto G, Cenedese A, Zaccarian L, Franchi A. Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction. Automatica. 2020;. PDF icon preprint-pdf (3.63 MB)
  9. Sanalitro D, Savino HJ, Tognon M, Cortés J, Franchi A. Full-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties. IEEE Robotics and Automation Letters. 2020;5(2):2185-2191. PDF icon preprint-pdf (4.08 MB)File video  (13.69 MB)
  10. Nava G, Sablé Q, Tognon M, Pucci D, Franchi A. Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators. IEEE Robotics and Automation Letters. 2020;5(2):331-338. PDF icon preprint-pdf (3.35 MB)File video  (13.67 MB)

2019

  1. Franchi A. Platforms with Multi-directional Total Thrust. In Aerial Robotic Manipulation. Springer; 2019. pp. 53-65. PDF icon preprint-pdf (2.88 MB)
  2. Franchi A. Interaction Control of Platforms with Multi-directional Total Thrust. In Aerial Robotic Manipulation. Springer; 2019. pp. 175-189. PDF icon preprint-pdf (2.88 MB)
  3. Sarkisov Y, Kim MJ, Bicego D, Tsetserukou D, Ott C, Franchi A, et al.. Development of SAM: cable-Suspended Aerial Manipulator. In 2019 IEEE Int. Conf. on Robotics and Automation. Montreal, Canada; 2019. PDF icon preprint-pdf (1.43 MB)
  4. Michieletto G, Cenedese A, Franchi A. 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.
  5. Gabellieri C, Tognon M, Sanalitro D, Pallottino L, Franchi A. A Study on Force-based Collaboration in Swarms. Swarm Intelligence. 2019;14:57-82. PDF icon preprint-pdf (18.52 MB)
  6. Ryll M, Muscio G, Pierri F, Cataldi E, Antonelli G, Caccavale F, et al.. 6D Interaction Control with Aerial Robots: The Flying End-Effector Paradigm. The International Journal of Robotics Research. 2019;38(9):1045-1062. PDF icon preprint-pdf (6.86 MB)File video-1 (10.22 MB)File video-2 (17.98 MB)File video-3 (13.97 MB)
  7. Franchi A, Petitti A, Rizzo A. Distributed Estimation of State and Parameters in Multi-Agent Cooperative Manipulation. IEEE Trans. on Control of Network Systems. 2019;6(2):690-701. PDF icon preprint-pdf (5.44 MB)
  8. Yüksel B, Secchi C, Bülthoff HH, Franchi A. Aerial Physical Interaction via IDA-PBC. The International Journal of Robotics Research. 2019;38(4):403–421. PDF icon preprint-pdf (7.38 MB)File video (14.22 MB)
  9. Walter V, Staub N, Franchi A, Saska M. UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs. IEEE Robotics and Automation Letters. 2019;4(3):2637-2644. PDF icon preprint-pdf (1.57 MB)File video (24.25 MB)
  10. Rossi E, Tognon M, Carli R, Schenato L, Cortés J, Franchi A. Cooperative Aerial Load Transportation via Sampled Communication. IEEE Control Systems Letters. 2019;4:277-282. PDF icon preprint-pdf (820.93 KB)
  11. Franchi A, Robuffo Giordano P, Michieletto G. Online Leader Selection for Improved Collective Tracking and Formation Control: the Second Order Case. IEEE Transactions on Control of Network Systems. 2019;6(4):1415-1425. PDF icon preprint-pdf (1.53 MB)
  12. Tognon M, Tello Chavez H, Gasparin E, Sablé Q, Bicego D, Mallet A, et al.. A Truly Redundant Aerial Manipulator System with Application to Push-And-Slide Inspection in Industrial Plants. IEEE Robotics and Automation Letters. 2019;4(2):1846-1851. PDF icon preprint-pdf (4.39 MB)File video (23.61 MB)
  13. Furci M, Nainer C, Zaccarian L, Franchi A. Input Allocation for the Propeller-Based Overactuated Platform ROSPO. IEEE Trans. on Control Systems Technology. 2019;18(6):2720-2727. PDF icon preprint-pdf (3.05 MB)

2018

  1. Yang H, Staub N, Franchi A, Lee D. Modeling and Control of Multiple Aerial-Ground Manipulator System with Load Flexibility. In 2018 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Madrid, Spain; 2018. PDF icon preprint-pdf (2.16 MB)File video (3.71 MB)
  2. Robuffo Giordano P, Delamare Q, Franchi A. Trajectory Generation for Minimum Closed-Loop State Sensitivity. In 2018 IEEE Int. Conf. on Robotics and Automation. Brisbane, Australia; 2018. pp. 286-293. PDF icon preprint-pdf (1.11 MB)File video (3.76 MB)
  3. Ryll M, Bicego D, Franchi A. A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base. In 12th IFAC Symposium on Robot Control. Budapest, Hungary; 2018. PDF icon preprint-pdf (995.27 KB)
  4. Staub N, Bicego D, Sablé Q, Arellano-Quintana V, Mishra S, Franchi A. Towards a Flying Assistant Paradigm: the OTHex. In 2018 IEEE Int. Conf. on Robotics and Automation. Brisbane, Australia; 2018. pp. 6997-7002. PDF icon preprint-pdf (2.88 MB)File video (9.31 MB)
  5. Furci M, Bicego D, Franchi A. Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms. In 12th IFAC Symposium on Robot Control. Budapest, Hungary; 2018. PDF icon preprint-pdf (759.54 KB)
  6. Gabellieri C, Tognon M, Palottino L, 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)
  7. Walter V, Saska M, Franchi A. Fast Mutual Relative Localization of UAVs using Ultraviolet LED markers. In 2018 International Conference on Unmanned Aircraft Systems. Dallas, TX; 2018. pp. 1217-1226. PDF icon preprint-pdf (3.68 MB)File video (11.25 MB)
  8. Walter V, Staub N, Saska M, Franchi A. Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform. In 14th IEEE International Conference on Automation Science and Engineering. Munich, Germany; 2018. PDF icon preprint-pdf (1.41 MB)File video (11.43 MB)
  9. Morbidi F, Bicego D, Ryll M, Franchi A. 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. PDF icon preprint-pdf (771.41 KB)
  10. Franchi A, Robuffo Giordano P. Online Leader Selection for Improved Collective Tracking and Formation Maintenance. IEEE Trans. on Control of Network Systems. 2018;5(1):3-13. PDF icon arXiv-pdf (670.68 KB)
  11. Franchi A, Carli R, Bicego D, Ryll M. Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force. IEEE Trans. on Robotics. 2018;34(2):534-541. PDF icon preprint-pdf (3.69 MB)File video-1 (21.32 MB)File video-2 (16.88 MB)File video-3 (4.22 MB)
  12. Faessler M, Franchi A, Scaramuzza D. Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories. IEEE Robotics and Automation Letters. 2018;3(2):620-626.
    Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
    PDF icon preprint-pdf (6.21 MB)File video (10.14 MB)
  13. Tognon M, Franchi A. Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Theory, Optimal Design, and Control. IEEE Robotics and Automation Letters. 2018;3(3):2277-2282. PDF icon preprint-pdf (3.44 MB)
  14. Masone C, Mohammadi M, Robuffo Giordano P, Franchi A. Shared Planning and Control for Mobile Robots with Integral Haptic Feedback. The International Journal of Robotics Research. 2018;37(11):1395-1420. PDF icon preprint-pdf (16.41 MB)File video-1-hil-simulations (9.17 MB)File video-2-experiments (22.12 MB)File video-3-user-study (23.48 MB)
  15. Ollero A, Heredia G, Franchi A, Antonelli G, Kondak K, Sanfeliu A, et al.. 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. 2018;25(4):12-23. PDF icon preprint-pdf (4.77 MB)
  16. Michieletto G, Ryll M, Franchi A. Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness. IEEE Trans. on Robotics. 2018;34(3). PDF icon preprint-pdf (4.27 MB)File video-1-explaination (708.53 KB)File video-2-triggered_failures (7.25 MB)File video-3-hitting_failure (4.71 MB)
  17. Delamare Q, Robuffo Giordano P, Franchi A. Towards Aerial Physical Locomotion: the Contact-Fly-Contact Problem. IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation. 2018;3:1514-1521.
    Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
    PDF icon preprint-pdf (654.75 KB)File video (4.26 MB)
  18. Tognon M, Cataldi E, Tello Chavez H, Antonelli G, Cortés J, Franchi A. Control-Aware Motion Planning for Task-Constrained Aerial Manipulation. IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation. 2018;3(3):2478-2484.
    Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
    PDF icon preprint-pdf (5.54 MB)File video (8.07 MB)
  19. Staub N, Mohammadi M, Bicego D, Delamare Q, Yang H, Prattichizzo D, et al.. The Tele-MAGMaS: an Aerial-Ground Co-manipulator System. IEEE Robotics and Automation Magazine. 2018;25(4):66-75. PDF icon preprint-pdf (5.52 MB)File video (21.39 MB)
  20. Tognon M, Gabellieri C, Pallottino L, 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. 2018;3(3):2577-2583.
    Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
    PDF icon preprint-pdf (4.84 MB)
  21. Arellano-Quintana V, Merchan-Cruz E, Franchi A. A Novel Experimental Model and a Drag-optimal Allocation Method for Variable-Pitch Propellers in Multirotors. IEEE Access. 2018;6:68155-68168. PDF icon preprint-pdf (5.4 MB)
  22. Antonelli G, Cataldi E, Arrichiello F, Robuffo Giordano P, Chiaverini S, Franchi A. Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances. IEEE Trans. on Control Systems Technology. 2018;26(1):248–254.

2017

  1. Franchi A. Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots. In Trends in Control and Decision-Making for Human-Robot Collaboration Systems. Springer; 2017. pp. 301-324. PDF icon preprint-pdf (6.37 MB)
  2. Staub N, Mohammadi M, Bicego D, Prattichizzo D, 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)
  3. Franchi A, Mallet A. Adaptive Closed-loop Speed Control of BLDC Motors with Applications to Multi-rotor Aerial Vehicles. In 2017 IEEE Int. Conf. on Robotics and Automation. Singapore; 2017. PDF icon preprint-pdf (1.54 MB)
  4. Tognon M, Franchi A. Landing and take-off on/from sloped and non-planar surfaces with more than 50 degrees of inclination. In 2017 International Micro Air Vehicle Conference. Toulouse, France; 2017. pp. 97-102. PDF icon preprint-pdf (3.57 MB)
  5. Nainer C, Furci M, Seuret A, Zaccarian L, Franchi A. Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation. In 20th IFAC World Congress. Toulouse, France; 2017. PDF icon preprint-pdf (1.71 MB)
  6. Tognon M, Yüksel B, Buondonno G, Franchi A. Dynamic Decentralized Control for Protocentric Aerial Manipulators. In 2017 IEEE Int. Conf. on Robotics and Automation. Singapore; 2017. pp. 6375-6380. PDF icon preprint-pdf (3.63 MB)File video (8.49 MB)
  7. Michieletto G, Cenedese A, Zaccarian L, Franchi A. Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction. In 20th IFAC World Congress. Toulouse, France; 2017. PDF icon preprint-pdf (1.04 MB)
  8. Michieletto G, Ryll M, Franchi A. 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. PDF icon preprint-pdf (2.98 MB)File video (2.97 MB)
  9. Solana Y, Furci M, Cortés J, Franchi A. Multi-Robot Path Planning with Maintenance of Generalized Connectivity. In The 1st Int. Symp. on Multi-Robot and Multi-Agent Systems. Los Angeles, CA; 2017. PDF icon preprint-pdf (2.56 MB)
  10. Sanchez-Lopez J-L-L, Arellano-Quintana V, Tognon M, Campoy P, Franchi A. Visual Marker based Multi-Sensor Fusion State Estimation. In 20th IFAC World Congress. Toulouse, France; 2017. PDF icon preprint-pdf (1.92 MB)
  11. Ryll M, Muscio G, Pierri F, Cataldi E, Antonelli G, Caccavale F, et al.. 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)
  12. Tognon M, Franchi A. Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform. In 20th IFAC World Congress. Toulouse, France; 2017. PDF icon preprint-pdf (1.24 MB)
  13. Nestmeyer T, Robuffo Giordano P, Bülthoff HH, Franchi A. Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots. Autonomous Robots. 2017;41(4):989-1011. PDF icon arXiv-pdf (3 MB)File video-experiment-quadrotors (19.94 MB)File video-sims-empty-space (3.86 MB)File video-sims-office-space (3.97 MB)File video-sims-town-space (4.68 MB)
  14. Tognon M, Franchi A. Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars. IEEE Transaction on Robotics. 2017;33(4):834-845. PDF icon arXiv-pdf-v2 (1.44 MB)

2016

  1. Spedicato S, Notarstefano G, Bülthoff HH, Franchi A. Aggressive Maneuver Regulation of a Quadrotor UAV. In Robotics Research, The 16th International Symposium ISRR. Springer; 2016. pp. 95-112. PDF icon preprint-pdf (934.12 KB)File video_no_sat (652.65 KB)File video_no_sat_zoom (1005.42 KB)File video_sat_8_5 (748.78 KB)File video_sat_8_5_zoom (1.43 MB)File video_sat_7 (646.52 KB)File video_sat_7_zoom (1.27 MB)
  2. Carron A, Todescato M, Carli R, Franchi A, Schenato L. Multi-Robot Localization via GPS and Relative Measurements in the Presence of Asynchronous and Lossy Communication. In 15th European Control Conference. Aalborg, Denmark; 2016.
  3. Ryll M, Bicego D, Franchi A. Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor. In 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 1689-1694. PDF icon preprint-pdf (952.56 KB)File video (22.85 MB)
  4. Michieletto G, Cenedese A, Franchi A. Bearing Rigidity Theory in SE(3). In 55th IEEE Conference on Decision and Control. Las Vegas, NV; 2016. pp. 5950-5955. PDF icon 2016o-MicCenFra-preprint.pdf (204.99 KB)
  5. Tognon M, Testa A, Rossi E, Franchi A. Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot. In 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Daejeon, South Korea; 2016. pp. 1702-1707. PDF icon preprint-pdf (974.21 KB)File video (28.46 MB)
  6. Mohammadi M, Franchi A, Barcelli D, 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)
  7. Schiano F, Franchi A, Zelazo D, 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)
  8. Petitti A, Franchi A, Di Paola D, 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)
  9. Yüksel B, Staub N, Franchi A. Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments. In 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 1667-1672. PDF icon preprint-pdf (482.67 KB)
  10. Spedicato S, Franchi A, Notarstefano G. From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots. In 2016 IEEE Int. Conf. on Robotics and Automation. Stockholm, Sweden; 2016. pp. 2965-2970. PDF icon preprint-pdf (1.58 MB)File video (9.15 MB)
  11. Yüksel B, Buondonno G, Franchi A. Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-Joints. In 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 561-566. PDF icon preprint-pdf (1.94 MB)PDF icon tech_report-pdf (1015.82 KB)File video (5.4 MB)
  12. Tognon M, Dash SS, Franchi A. Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform. IEEE Robotics and Automation Letters. 2016;1(2):732-737.
    Also selected for presentation at the 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm , Sweden
    PDF icon preprint-pdf (1.42 MB)File video (8.54 MB)
  13. Stegagno P, Cognetti M, Oriolo G, Bülthoff HH, Franchi A. Ground and Aerial Mutual Localization using Anonymous Relative-Bearing Measurements. IEEE Transaction on Robotics. 2016;32(5):1133-1151. PDF icon preprint-pdf (4.74 MB)File video (10.02 MB)
  14. Franchi A, Stegagno P, Oriolo G. Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance. Autonomous Robots. 2016;40(2):245-265. PDF icon arXiv-pdf-v2-last-version (4.71 MB)PDF icon arXiv-pdf-v1-first-version-(Old) (4.47 MB)

2015

  1. Gioioso G, Mohammadi M, Franchi A, Prattichizzo D. A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment. In 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 318-324. PDF icon preprint-pdf (5.77 MB)File video (9.13 MB)
  2. Tognon M, Franchi A. Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots. In 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Hamburg, Germany; 2015. pp. 1852-1857. PDF icon preprint-pdf (1.45 MB)File video (8.31 MB)
  3. Franchi A, Petitti A, Rizzo A. Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements. In 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 5517-5522. PDF icon preprint-pdf (1023.7 KB)
  4. Tognon M, Franchi A. Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots. In 14th European Control Conference. Linz, Austria; 2015. pp. 1620-1625. PDF icon preprint-pdf (307.59 KB)
  5. Tognon M, Franchi A. Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements. In 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 3994-3999. PDF icon preprint-pdf (224.15 KB)File video (8.84 MB)
  6. Yüksel B, Mahboubi S, Secchi C, Bülthoff HH, Franchi A. Design, Identification and Experimental Testing of a Light-Weight Flexible-joint Arm for Aerial Physical Interaction. In 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 870-876. PDF icon preprint-pdf (1.28 MB)File video (10 MB)
  7. Rajappa S, Ryll M, Bülthoff HH, Franchi A. Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers. In 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 4006-4013. PDF icon preprint-pdf (2.14 MB)File video (8.98 MB)
  8. Staub N, Franchi A. Battery-aware Dynamical Modeling and Identification for the Total Thrust in Multi-rotor UAVs using only an Onboard Accelerometer. In 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 3341-3346. PDF icon preprint-pdf (779.35 KB)File video (8.85 MB)
  9. Zelazo D, Robuffo Giordano P, 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)

2014

  1. Tokekar P, Isler V, Franchi A. Multi-Target Visual Tracking with UAVs. In 2014 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Chicago, IL; 2014. pp. 656-661. PDF icon preprint-pdf (499.72 KB)
  2. Masone C, Robuffo Giordano P, Bülthoff HH, Franchi A. 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. PDF icon preprint-pdf (3.45 MB)File video (9.23 MB)
  3. Yüksel B, Secchi C, Bülthoff HH, Franchi A. A Nonlinear Force Observer for Quadrotors and Application to Physical Interactive Tasks. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Besançon, France; 2014. pp. 433-440. PDF icon preprint-pdf (1.11 MB)
  4. Yüksel B, Secchi C, Bülthoff HH, Franchi A. Reshaping the Physical Properties of a Quadrotor through IDA-PBC and its Application to Aerial Physical Interaction. In 2014 IEEE Int. Conf. on Robotics and Automation. Hong Kong, China; 2014. pp. 6258-6265. PDF icon preprint-pdf (553.49 KB)File video (7.15 MB)
  5. Gagliardi M, Oriolo G, Bülthoff HH, Franchi A. Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs. In 2014 European Control Conference. Strasbourg, France; 2014. pp. 1902-1908. PDF icon preprint-pdf (1.82 MB)File video (13.1 MB)
  6. Zelazo D, Franchi A, Robuffo Giordano P. Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing. In 2014 European Control Conference. Strasbourg, France; 2014. pp. 2703-2708. PDF icon preprint-pdf (410.91 KB)
  7. Gioioso G, Franchi A, Salvietti G, Scheggi S, 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)
  8. Franchi A, Petitti A, 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)
  9. Stegagno P, Basile M, Bülthoff HH, Franchi A. A Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback. In 2014 IEEE Int. Conf. on Robotics and Automation. Hong Kong, China; 2014. pp. 3862-3869. PDF icon preprint-pdf (1.63 MB)File video (9.59 MB)
  10. Gioioso G, Ryll M, Prattichizzo D, Bülthoff HH, 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)
  11. Zelazo D, Franchi A, Bülthoff HH, Robuffo Giordano P. Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems. The International Journal of Robotics Research. 2014;34(1):105-128. PDF icon arXiv-pdf-v3-last-version (4.19 MB)
  12. Gioioso G, Salvietti G, Franchi A, Malvezzi M, Scheggi S, Meli L, et al.. 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.

2013

  1. Grabe V, Riedel M, Bülthoff HH, Robuffo Giordano P, Franchi A. The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control. In 6th European Conference on Mobile Robots [Internet]. Barcelona, Spain; 2013. http://www.ros.org/wiki/telekybPDF icon pdf-preprint (1.19 MB)
  2. Franchi A. Towards Autonomous-collaborative and Haptic-tele-operated UAVs with Fully-onboard State Estimation and Physical Interaction Capabilities. In 2013 IROS Work. on From Remotely-Controlled to Autonomous-Collaborative Robots. Tokyo, Japan; 2013.
  3. Stegagno P, Basile M, Bülthoff HH, Franchi A. RGB-D based Haptic Teleoperation of UAVs with Onboard Sensors: Development and Preliminary Results. In 2013 IROS Work. on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments. Tokyo, Japan; 2013.
  4. Spica R, Robuffo Giordano P, Ryll M, Bülthoff HH, Franchi A. An Open-Source Hardware/Software Architecture for Quadrotor UAVs. In 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems. Compiegne, France; 2013. PDF icon preprint-pdf (1.24 MB)
  5. Antonelli G, Cataldi E, Robuffo Giordano P, Chiaverini S, Franchi A. Experimental Validation of a New Adaptive Control for Quadrotors. In 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Tokyo, Japan; 2013. PDF icon preprint-pdf (943.33 KB)
  6. Secchi C, Franchi A, Bülthoff HH, Robuffo Giordano P. Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation. In 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany; 2013. PDF icon preprint-pdf (1.95 MB)File video (4.73 MB)
  7. Stegagno P, Basile M, Bülthoff HH, Franchi A. Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation. In 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems. Compiegne, France; 2013. PDF icon preprint-pdf (1.37 MB)
  8. Robuffo Giordano P, Franchi A, Secchi C, Bülthoff HH. A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance. The International Journal of Robotics Research. 2013;32(3): 299-323. PDF icon preprint-pdf (3.83 MB)File video1 (9.79 MB)
  9. Censi A, Franchi A, Marchionni L, Oriolo G. Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots. IEEE Transaction on Robotics. 2013;29(2):475-492. PDF icon preprint-pdf (1.71 MB)
  10. Son HI, Franchi A, Chuang LL, Kim J, Bülthoff HH, Robuffo Giordano P. Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots. IEEE Transactions on Systems, Man, & Cybernetics. Part B: Cybernetics. 2013;43(2):597-609. PDF icon preprint-pdf (4.95 MB)
  11. Lee D, Franchi A, Son HI, Bülthoff HH, Robuffo Giordano P. Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles. IEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics. 2013;18(4):1334-1345. PDF icon preprint-pdf (3.66 MB)
  12. Franchi A, Oriolo G, Stegagno P. Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements. The International Journal of Robotics Research. 2013;32(11):1303-1322. PDF icon preprint-pdf (3.28 MB)File video (5.98 MB)
  13. Nestmeyer T, Riedel M, Lächele J, Hartmann S, Botschen F, Robuffo Giordano P, et al.. Interactive Demo: Haptic Remote Control of Multiple UAVs with Autonomous Cohesive Behavior [Internet]. Int. Work. on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany; 2013. http://icra2013mrs.tuebingen.mpg.de/
  14. Gioioso G, Franchi A, Salvietti G, Scheggi S, Prattichizzo D. Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand. RSS 2013 Work. on Aerial Mobile Manipulation. Berlin, Germany; 2013.
  15. Lächele J, Riedel M, Robuffo Giordano P, Franchi A. SwarmSimX and TeleKyb: Two ROS-integrated Software Frameworks for Single- and Multi-Robot Applications [Internet]. Int. Work. on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany; 2013. http://icra2013mrs.tuebingen.mpg.de/
  16. Nestmeyer T, Robuffo Giordano P, Franchi A. Multi-target Simultaneous Exploration with Continual Connectivity. 2th Int. Work. on Crossing the Reality Gap - From Single to Multi- to Many Robot Systems, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany; 2013.
  17. Nestmeyer T, Robuffo Giordano P, Franchi A. Human-assisted Parallel Multi-target Visiting in a Connected Topology. 6th Int. Work. on Human-Friendly Robotics. Rome, Italy; 2013.

2012

  1. Lächele J, Franchi A, Bülthoff HH, Robuffo Giordano P. SwarmSimX: Real-time Simulation Environment for Multi-robot Systems. In 3rd Int. Conf. on Simulation, Modeling, and Programming for Autonomous Robots. Tsukuba, Japan; 2012. PDF icon preprint-pdf (1023.48 KB)
  2. Secchi C, Franchi A, Bülthoff HH, Robuffo Giordano P. Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology. In 2012 IEEE Int. Conf. on Robotics and Automation. St. Paul, MN; 2012. PDF icon preprint-pdf (1.46 MB)File video (4.01 MB)
  3. Riedel M, Franchi A, Bülthoff HH, Robuffo Giordano P, Son HI. Experiments on Intercontinental Haptic Control of Multiple UAVs. In 12th Int. Conf. on Intelligent Autonomous Systems. Jeju Island, Korea; 2012. pp. 227-238. PDF icon preprint-pdf (1.49 MB)File video (10.01 MB)
  4. Zelazo D, Franchi A, Allgöwer F, Bülthoff HH, 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)
  5. Cognetti M, Stegagno P, Franchi A, Oriolo G. Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems. In 2nd IFAC Workshop on Multivehicle Systems. Espoo, Finland; 2012. PDF icon preprint-pdf (1.09 MB)
  6. Masone C, Franchi A, Bülthoff HH, Robuffo Giordano P. 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. PDF icon preprint-pdf (2.15 MB)File video (9.02 MB)
  7. Spica R, Franchi A, Oriolo G, Bülthoff HH, Robuffo Giordano P. Aerial Grasping of a Moving Target with a Quadrotor UAV. In 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Vilamoura, Portugal; 2012. pp. 4985-4992. PDF icon preprint-pdf (2.12 MB)File video (7.13 MB)
  8. Cognetti M, Stegagno P, Franchi A, Oriolo G, Bülthoff HH. 3D Mutual Localization with Anonymous Bearing Measurements. In 2012 IEEE Int. Conf. on Robotics and Automation. St. Paul, MN; 2012. PDF icon preprint-pdf (1.87 MB)
  9. Franchi A, Robuffo Giordano P. Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements. In 51th IEEE Conference on Decision and Control . Maui, HI; 2012. pp. 5310-5317. PDF icon preprint-pdf (798.4 KB)
  10. Franchi A, Secchi C, Son HI, Bülthoff HH, Robuffo Giordano P. Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology. IEEE Transaction on Robotics. 2012;28(5):1019 -1033. PDF icon preprint-pdf (4.11 MB)
  11. Durham JW, Franchi A, Bullo F. Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers. Autonomous Robots [Internet]. 2012;32(1):81-95. http://www.springerlink.com/content/a02pr41790ll754w/PDF icon preprint-pdf (3.29 MB)File video1 (880.59 KB)
  12. Pasqualetti F, Franchi A, Bullo F. On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms. IEEE Transaction on Robotics. 2012;28(3):592-606. PDF icon preprint-pdf (1.55 MB)
  13. Franchi A, Secchi C, Ryll M, Bülthoff HH, Robuffo Giordano P. Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs. IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform. 2012;19(3):57-68. PDF icon preprint-pdf (7.17 MB)
  14. Franchi A, Masone C, Grabe V, Ryll M, Bülthoff HH, Robuffo Giordano P. Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering. The International Journal of Robotics Research, Special Issue on 3D Exploration, Mapping, and Surveillance. 2012;31(12):1504-1525. PDF icon preprint-pdf (3.81 MB)
  15. Masone C, Franchi A, Bülthoff HH, Robuffo Giordano P. 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.
  16. Riedel M, Bülthoff HH, Franchi A, Robuffo Giordano P. Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs. 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium; 2012.
  17. Franchi A, Masone C, Robuffo Giordano P. A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation. 2012 IEEE IROS Work. on Real-time Motion Planning: Online, Reactive, and in Real-time. Vilamoura, Portugal; 2012. PDF icon pdf-preprint (1.63 MB)

2011

  1. Stegagno P, Cognetti M, Franchi A, Oriolo G. Mutual Localization using Anonymous Bearing Measurements. In 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. San Francisco, CA; 2011. pp. 469-474. PDF icon preprint-pdf (1.24 MB)File video (4.73 MB)
  2. Son HI, Chuang LL, Franchi A, Kim J, Lee D, Lee S-W, et al.. Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots. In 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. San Francisco, CA; 2011. pp. 3039-3046. PDF icon preprint-pdf (1.2 MB)
  3. Franchi A, Masone C, Bülthoff HH, Robuffo Giordano P. Bilateral Teleoperation of Multiple UAVs with Decentralized Bearing-only Formation Control. In 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. San Francisco, CA; 2011. pp. 2215-2222. PDF icon preprint-pdf (1.14 MB)File video (8.23 MB)
  4. Franchi A, Bülthoff HH, Robuffo Giordano P. Distributed Online Leader Selection in the Bilateral Teleoperation of Multiple UAVs. In 50th IEEE Conference on Decision and Control . Orlando, FL; 2011. pp. 3559-3565. PDF icon preprint-pdf (1.2 MB)
  5. Franchi A, Robuffo Giordano P, Secchi C, Son HI, Bülthoff HH. A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology. In 2011 IEEE Int. Conf. on Robotics and Automation. Shanghai, China; 2011. pp. 898-905. PDF icon preprint-pdf (870.58 KB)File video (4.84 MB)
  6. Robuffo Giordano P, Franchi A, Secchi C, Bülthoff HH. Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance. In 2011 Robotics: Science and Systems Conference. Los Angeles, CA; 2011. PDF icon preprint-pdf (1.8 MB)File video (14.5 MB)
  7. Robuffo Giordano P, Franchi A, Secchi C, Bülthoff HH. Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization. In 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. San Francisco, CA; 2011. pp. 163-170. PDF icon preprint-pdf (1.45 MB)File video (4.76 MB)
  8. Lee D, Franchi A, Robuffo Giordano P, Son HI, Bülthoff HH. Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet. In 2011 IEEE Int. Conf. on Robotics and Automation. Shanghai, China; 2011. pp. 1341-1347. PDF icon preprint-pdf (1.34 MB)File video (4.92 MB)
  9. Son HI, Kim J, Chuang LL, Franchi A, Robuffo Giordano P, Lee D, et al.. An Evaluation of Haptic Cues on the Tele-Operator’s Perceptual Awareness of Multiple UAVs’ Environments. In IEEE – World Haptics Conference. Istanbul, Turkey; 2011. pp. 149-154. PDF icon preprint-pdf (2.04 MB)
  10. Franchi A. Decentralized Bilateral Aerial Teleoperation of Multiple UAVs - Part I: a Top-Down Perspective. RSS 2011 Workshop on 3D Exploration, Mapping, and Surveillance with Aerial Robots. Los Angeles, CA; 2011.

2010

  1. Franchi A, Oriolo G, Stegagno P. Probabilistic Mutual Localization in Multi-agent Systems from Anonymous Position Measures. In 49th IEEE Conference on Decision and Control. Atlanta, GA, USA; 2010. pp. 6534-6540. PDF icon pdf (1.26 MB)
  2. Franchi A, Stegagno P, Di Rocco M, Oriolo G. Distributed Target Localization and Encirclement with a Multi-robot System. In 7th IFAC Symposium on Intelligent Autonomous Vehicles. Lecce, Italy; 2010. PDF icon pdf (929.67 KB)
  3. Pasqualetti F, Franchi A, 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)
  4. Franchi A, Oriolo G, Stegagno P. On the Solvability of the Mutual Localization Problem with Anonymous Position Measures. In 2010 IEEE Int. Conf. on Robotics and Automation. Anchorage, AK; 2010. pp. 3193-3199. PDF icon pdf (836.33 KB)File video (3.03 MB)
  5. Durham JW, Franchi A, Bullo F. Distributed Pursuit-Evasion with Limited-Visibility Sensor Via Frontier-based Exploration. In 2010 IEEE Int. Conf. on Robotics and Automation. Anchorage, AK; 2010. pp. 3562-3568. PDF icon pdf (1.03 MB)File video (2.95 MB)
  6. Robuffo Giordano P, Franchi A, Son HI, Secchi C, Lee D, Bülthoff HH. Towards Bilateral Teleoperation of Multi-Robot Systems. 3rd Int. Work. on Human-Friendly Robotics. Tuebingen, Germany; 2010.

2009

  1. Franchi A, Oriolo G, Stegagno P. Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures. In 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. St. Louis, MO; 2009. pp. 3974-3980. PDF icon pdf (1.93 MB)File video (3.52 MB)
  2. Franchi A, Freda L, Oriolo G, Vendittelli M. The Sensor-based Random Graph Method for Cooperative Robot Exploration. IEEE/ASME Transaction on Mechatronics. 2009;14(2):163-175.
    Winner of the IEEE RAS ICYA Best Paper Award 2010 link
    PDF icon preprint-pdf (1.15 MB)
  3. Franchi A, Oriolo G, Stegagno P. Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures. Department of Computer and System Sciences Antonio Ruberti; 2009 . PDF icon pdf (1.29 MB)
  4. Franchi A. Decentralized Methods for Cooperative Task Execution in Multi-robot Systems. PhD Thesis, Department of Computer and System Science. "La Sapienza" University of Rome; 2009. PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)

2008

  1. Franchi A, Freda L, Marchionni L, Oriolo G, Vendittelli M. Decentralized cooperative exploration: Implementation and experiments. In 10th Int. Conf. on Intelligent Autonomous Systems. Baden-Baden, Germany; 2008. pp. 348-355. PDF icon pdf (634.37 KB)

2007

  1. Franchi A, Freda L, Oriolo G, Vendittelli M. A Randomized Strategy for Cooperative Robot Exploration. In 2007 IEEE Int. Conf. on Robotics and Automation. Rome, Italy; 2007. pp. 768-774. PDF icon pdf (802.55 KB)
  2. Franchi A, Freda L, Oriolo G, Vendittelli M. A decentralized strategy for cooperative robot exploration. In ACM International Conference Proceeding Series, Proceedings of the 1st international conference on Robot communication and coordination. Athens, Greece; 2007. PDF icon pdf (2.67 MB)