@conference {2014a-GioFraSalSchPra,
	title = {The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation},
	booktitle = {2014 IEEE Int. Conf. on Robotics and Automation},
	year = {2014},
	month = {05/2014},
	pages = {4335-4341},
	address = {Hong Kong, China},
	abstract = {The flying hand is a robotic hand consisting of a swarm of UAVs able to grasp an object where each UAV contributes to the grasping task with a single contact point at the tooltip. The swarm of robots is teleoperated by a human hand whose fingertip motions are tracked, e.g., using an RGB-D camera. We solve the kinematic dissimilarity of this unique master-slave system using a multi-layered approach that includes: a hand interpreter that translates the fingertip motion in a desired motion for the object to be manipulated; a mapping algorithm that transforms the desired object motions into a suitable set of virtual points deviating from the planned contact points; a compliant force control for the case of quadrotor UAVs that allows to use them as indirect 3D force effectors. Visual feedback is also used as sensory substitution technique to provide a hint on the internal forces exerted on the object. We validate the approach with several human-in-the-loop simulations including the full physical model of the object, contact points and UAVs.},
	keywords = {Aerial Physical Interaction, Aerial Robotics, Bilateral Shared Control of Mobile Robots, Motion control of multiple robots},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014a-GioFraSalSchPra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014a-GioFraSalSchPra.mp4},
	author = {Guido Gioioso and Antonio Franchi and Gionata Salvietti and Stefano Scheggi and Domenico Prattichizzo}
}
@booklet {2013m-GioFraSalSchPra,
	title = {Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand},
	howpublished = {RSS 2013 Work. on Aerial Mobile Manipulation},
	year = {2013},
	month = {06/2013},
	address = {Berlin, Germany},
	keywords = {Aerial Physical Interaction, Motion control of multiple robots},
	author = {Guido Gioioso and Antonio Franchi and Gionata Salvietti and Stefano Scheggi and Domenico Prattichizzo}
}
