@inbook {2021m-PieFra,
	title = {Cooperative Manipulation},
	booktitle = {Encyclopedia of Robotics},
	year = {2023},
	publisher = {Springer},
	organization = {Springer},
	author = {Francesco Pierri and Antonio Franchi}
}
@article {2019h-RylMusPieCatAntCacFra,
	title = {6D Interaction Control with Aerial Robots: The Flying End-Effector Paradigm},
	journal = {The International Journal of Robotics Research},
	volume = {38},
	year = {2019},
	pages = {1045-1062},
	doi = {10.1177/0278364919856694},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019h-RylMusPieCatAntCacFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019h-RylMusPieCatAntCacFra-1.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019h-RylMusPieCatAntCacFra-2.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019h-RylMusPieCatAntCacFra-3.mp4},
	author = {Markus Ryll and Giuseppe Muscio and Francesco Pierri and Elisabetta Cataldi and Gianluca Antonelli and Fabrizio Caccavale and Davide Bicego and Antonio Franchi}
}
@article {2018m-OllHerFraAntKonSanVigSanTruBalAndRod,
	title = {The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance},
	journal = {IEEE Robotics and Automation Magazine, Special Issue on Floating-base (Aerial and Underwater) Manipulation},
	volume = {25},
	year = {2018},
	month = {12/2018},
	pages = {12-23},
	abstract = {This paper summarizes new aerial robotic manipu- lation technologies and methods, required for outdoor industrial inspection and maintenance, developed in the AEROARMS project. It presents aerial robotic manipulators with dual arms and multi-directional thrusters. It deals with the control systems, including the control of the interaction forces and the compliance, the teleoperation, which uses passivity to tackle the trade- off between stability and performance, perception methods for localization, mapping and inspection, and planning methods, including a new control-aware approach for aerial manipulation. Finally, it describes a novel industrial platform with multi- directional thrusters and a new arm design to increase the robustness in industrial contact inspections. The lessons learned in the application to outdoor aerial manipulation for inspection and maintenance are pointed out.},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018m-OllHerFraAntKonSanVigSanTruBalAndRod-preprint_3.pdf},
	author = {Anibal Ollero and Guillermo Heredia and Antonio Franchi and Gianluca Antonelli and Konstantin Kondak and Alberto Sanfeliu and Antidio Viguria and Jose R. Martinez-de Dios and Francesco Pierri and Juan Cort{\'e}s and A. Santamaria-Navarro and Miguel A. Trujillo and Ribin Balachandran and Juan Andrade-Cetto and Angel Rodriguez}
}
@conference {2017e-RylMusPieCatAntCacFra,
	title = {6D Physical Interaction with a Fully Actuated Aerial Robot},
	booktitle = {2017 IEEE Int. Conf. on Robotics and Automation},
	year = {2017},
	month = {05/2017},
	pages = {5190-5195},
	address = {Singapore},
	abstract = {This paper presents the design, control, and experimental validation of a novel fully{\textendash}actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how the Tilt-Hex, a tilted-propeller hexarotor is able to control the full pose (position and orientation independently) using a geometric control, and to exert a full-wrench (force and torque independently) with a rigidly attached end-effector using an admittance control paradigm. An outer loop control governs the desired admittance behavior and an inner loop based on geometric control ensures pose tracking. The interaction forces are estimated by a momentum based observer. Control and observation are made possible by a precise control and measurement of the speed of each propeller. An extensive experimental campaign shows that the Tilt-Hex is able to outperform the classical underactuated multi-rotors in terms of stability, accuracy and dexterity and represent one of the best choice at date for tasks requiring aerial physical interaction.},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2017e-RylMusPieCatAntCacFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2017e-RylMusPieCatAntCacFra.mp4},
	author = {Markus Ryll and Giuseppe Muscio and Francesco Pierri and Elisabetta Cataldi and Gianluca Antonelli and Fabrizio Caccavale and Antonio Franchi}
}
