@article {2021f-HamUsaSabStaTogFra,
	title = {Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation},
	journal = {The International Journal of Robotics Research},
	volume = {40},
	year = {2021},
	pages = {1015-1044},
	doi = {10.1177/02783649211025998},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2021f-HamUsaSabStaTogFra.pdf},
	author = {Mahmoud Hamandi and Federico Usai and Quentin Sabl{\'e} and Nicolas Staub and Marco Tognon and Antonio Franchi}
}
@article {2021c-BasHamBroFra,
	title = {A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure},
	journal = {IEEE Robotics and Automation Letters},
	year = {2021},
	month = {03/2021},
	abstract = {This paper presents a novel open source design of the Y-shaped hexarotor Unmanned Aerial Vehicle (UAV), and proves both in theory and real experiments its robustness to the failure of any of its propellers. An intuitive geometrical interpretation of UAV static hovering ability is presented, through which the robustness of different coplanar/collinear hexarotor designs is analyzed. Following the presented geometrical interpretation, we also show the conditions that allow the Star-shaped hexarotor to be robust to the failure of some of its propellers, while showing its incapability to static hover in the case of the failure of any of its propellers. Finally, the efficiency of the Y-shaped and Star-shaped hexarotors are tested experimentally, and conclusions on the advantages and disadvantages of the two designs are drawn.},
	doi = {10.1109/LRA.2021.3067182},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2021c-BasHamBroFra.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2021c-BasHamBroFra.mp4},
	author = {Elgiz Baskaya and Mahmoud Hamandi and Murat Bronz and Antonio Franchi}
}
@article {2021d-HorHamGieFra,
	title = {Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force},
	journal = {IEEE Robotics and Automation Letters},
	volume = {6},
	year = {2021},
	pages = {3949-3955},
	doi = {10.1109/LRA.2021.3067229},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2021d-HorHamGieFra.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2021d-HorHamGieFra.mp4},
	author = {Dariusz Horla and Mahmoud Hamandi and Wojciech Giernacki and Antonio Franchi}
}
@conference {2021l-HamSabTogFra,
	title = {Understanding the Omnidirectional Capability of a Generic Multi-rotor Aerial Vehicle},
	booktitle = {2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)},
	year = {2021},
	month = {Oct.},
	address = {Biograd na Moru, Croatia},
	author = {Mahmoud Hamandi and Quentin Sabl{\'e} and Marco Tognon and Antonio Franchi}
}
@conference {2020d-HamTogFra,
	title = {Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles},
	booktitle = {2020 IEEE Int. Conf. on Robotics and Automation},
	year = {2020},
	month = {05/2020},
	address = {Paris, France},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2020d-HamTogFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2020d-HamTogFra.mp4},
	author = {Mahmoud Hamandi and Marco Tognon and Antonio Franchi}
}
@conference {2020j-HamSawTogFra,
	title = {Omni-Plus-Seven (O7+): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-directional Thrusters},
	booktitle = {2020 Int. Conf. on Unmanned Aircraft Systems},
	year = {2020},
	month = {07/2020},
	address = {Athens, Greece},
	abstract = {The aim of this paper is to present the design of a novel omnidirectional Unmanned Aerial Vehicle (UAV) with seven uni-directional thrusters, called O+7. The paper formally defines the O+ design for a generic number of propellers and presents its necessary conditions; then it illustrates a method to optimize the placement and orientation of the platform{\textquoteright}s propellers to achieve a balanced O+ design. The paper then details the choice of the parameters of the O7+ UAV, and highlights the required mechanical and electrical components. The resultant platform is tested in simulation, before being implemented as a prototype. The prototype is firstly static-bench tested to match its nominal and physical models, followed by hovering tests in multiple orientations. The presented prototype shows the ability to fly horizontally, upside down and at a tilted angle.},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2020j-HamSawTogFra.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2020j-HamSawTogFra.mp4},
	author = {Mahmoud Hamandi and Kapil Sawant and Marco Tognon and Antonio Franchi}
}
