@conference {2012j-SpiFraOriBueRob,
	title = {Aerial Grasping of a Moving Target with a Quadrotor UAV},
	booktitle = {2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {2012},
	month = {10/2012},
	pages = {4985-4992},
	address = {Vilamoura, Portugal},
	abstract = {For a quadrotor aircraft, we study the problem of planning a trajectory that connects two arbitrary states while allowing the UAV to grasp a moving target at some intermediate time.
To this end, two classes of canonical grasping maneuvers are defined and characterized. A planning strategy relying on differential flatness is then proposed to concatenate one or more grasping maneuvers by means of spline-based subtrajectories, with the additional objective of minimizing the total transfer time.
The proposed planning algorithm is not restricted to pure hovering-to-hovering motions and takes into account practical constraints, such as the finite duration of the grasping phase. 
The effectiveness of the proposed approach is shown by means of physically-based simulations.},
	keywords = {Motion Planning, Optimal Trajectory Planning},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012j-SpiFraOriBueRob.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012j-SpiFraOriBueRob.mp4},
	author = {Riccardo Spica and Antonio Franchi and Giuseppe Oriolo and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@conference {2012k-MasFraBueRob,
	title = {Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots},
	booktitle = {2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {2012},
	month = {10/2012},
	pages = {2641-2648},
	address = {Vilamoura, Portugal},
	abstract = {This work extends the framework of bilateral shared control of mobile robots with the aim of increasing the robot autonomy and decreasing the operator commitment. We consider persistent autonomous behaviors where a cyclic motion must be executed by the robot. The human operator is in charge of modifying online some geometric properties of the desired path. This is then autonomously processed by the robot in order to produce an actual path guaranteeing: i) tracking feasibility, ii) collision avoidance with obstacles, iii) closeness to the desired path set by the human operator, and iv) proximity to some points of interest. A force feedback is implemented to inform the human operator of the global deformation of the pathrather than using the classical mismatch between desired and executed motion commands. Physically-based simulations, with human/hardware-in-the-loop and a quadrotor UAV as robotic platform, demonstrate the feasibility of the method. },
	keywords = {Bilateral Shared Control of Mobile Robots, Force feedback, Haptics, Motion Planning, Optimal Trajectory Planning, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012k-MasFraBueRob.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012k-MasFraBueRob.mp4},
	author = {Carlo Masone and Antonio Franchi and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@booklet {2012p-MasFraBueRob,
	title = {Shared Trajectory Planning for Human-in-the-loop Navigation of Mobile Robots in Cluttered Environments},
	howpublished = {5th Int. Work. on Human-Friendly Robotics},
	year = {2012},
	month = {10/2012},
	address = {Bruxelles, Belgium},
	keywords = {Bilateral Shared Control of Mobile Robots, Optimal Trajectory Planning},
	author = {Carlo Masone and Antonio Franchi and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
