@article {2020a-NavSabTogPucFra,
	title = {Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators},
	journal = {IEEE Robotics and Automation Letters},
	volume = {5},
	year = {2020},
	month = {04/2020},
	pages = {331-338},
	abstract = {In this paper, we present an optimization-based method for controlling aerial manipulators in physical contact with the environment. The multi-task control problem, which includes hybrid force-motion tasks, energetic tasks, and position/postural tasks, is recast as a quadratic programming problem with equality and inequality constraints, which is solved online. Thanks to this method, the aerial platform can be exploited at its best to perform the multi-objective tasks, with tunable priorities, while hard constraints such as contact maintenance, friction cones, joint limits, maximum and minimum propeller speeds are all respected. An on-board force/torque sensor mounted at the end effector is used in the feedback loop in order to cope with model inaccuracies and reject external disturbances. Real experiments with a multi-rotor platform and a multi-DoF lightweight manipulator demonstrate the applicability and effectiveness of the proposed approach in the real world.},
	keywords = {Aerial Physical Interaction, Aerial Robotics},
	doi = {10.1109/LRA.2019.2958473},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2020a-NavSabTogPucFra.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2020a-NavSabTogPucFra.mp4},
	author = {Gabriele Nava and Quentin Sabl{\'e} and Marco Tognon and Daniele Pucci and Antonio Franchi}
}
