Publications
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“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.
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“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.
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“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.
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“Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force”, IEEE Trans. on Robotics, vol. 34, no. 2, pp. 534-541, 2018.
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“Decentralized cooperative exploration: Implementation and experiments”, in 10th Int. Conf. on Intelligent Autonomous Systems, Baden-Baden, Germany, 2008, pp. 348-355.
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“Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology”, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012.
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“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.
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“Distributed Target Localization and Encirclement with a Multi-robot System”, in 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010.
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“Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.
2009-Franchi_PhDThesis.pdf (14.02 MB)
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“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.
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“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.
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“Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures”, Department of Computer and System Sciences Antonio Ruberti, 2009.
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“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.
, “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.
, “Platforms with Multi-directional Total Thrust”, in Aerial Robotic Manipulation, Springer, 2019, pp. 53-65.
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“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.
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“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, vol. 19, no. 3, pp. 57-68, 2012.
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“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.
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“The Sensor-based Random Graph Method for Cooperative Robot Exploration”, IEEE/ASME Transaction on Mechatronics, vol. 14, no. 2, pp. 163-175, 2009.
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, Winner of the IEEE RAS ICYA Best Paper Award 2010 link
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“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.
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“Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance”, Autonomous Robots, vol. 40, no. 2, pp. 245-265, 2016.
arXiv-pdf-v2-last-version (4.71 MB)
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“Interaction Control of Platforms with Multi-directional Total Thrust”, in Aerial Robotic Manipulation, vol. 129, Springer, 2019, pp. 175-189.
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“A Randomized Strategy for Cooperative Robot Exploration”, in 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, 2007, pp. 768-774.
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“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, vol. 31, no. 12, pp. 1504-1525, 2012.
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“Distributed Estimation of State and Parameters in Multi-Agent Cooperative Manipulation”, IEEE Trans. on Control of Network Systems, vol. 6, no. 2, pp. 690-701, 2019.
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“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.
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“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.
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“Online Leader Selection for Improved Collective Tracking and Formation Maintenance”, IEEE Trans. on Control of Network Systems, vol. 5, no. 1, pp. 3-13, 2018.
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“Online Leader Selection for Improved Collective Tracking and Formation Control: the Second Order Case”, IEEE Transactions on Control of Network Systems, vol. 6, no. 4, pp. 1415-1425, 2019.
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“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, vol. 318.
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“Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements”, The International Journal of Robotics Research, vol. 32, no. 11, pp. 1303-1322, 2013.
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“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.
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