Publications
“Control-Aware Motion Planning for Task-Constrained Aerial Manipulation”, IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, no. 3, pp. 2478-2484, 2018.
preprint-pdf (5.54 MB)
video (8.07 MB)
, Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
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“Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances”, IEEE Trans. on Control Systems Technology, vol. 26, no. 1, pp. 248–254, 2018.
, “6D Interaction Control with Aerial Robots: The Flying End-Effector Paradigm”, The International Journal of Robotics Research, vol. 38, no. 9, pp. 1045-1062, 2019.
preprint-pdf (6.86 MB)
video-1 (10.22 MB)
video-2 (17.98 MB)
video-3 (13.97 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
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“Experimental Validation of a New Adaptive Control for Quadrotors”, in 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, 2013.
preprint-pdf (943.33 KB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
“6D Physical Interaction with a Fully Actuated Aerial Robot”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017, pp. 5190-5195.
preprint-pdf (3.04 MB)
video (9.52 MB)
, ![application/pdf PDF icon](/afranchi/robotics/modules/file/icons/application-pdf.png)
![video/mp4 File](/afranchi/robotics/modules/file/icons/video-x-generic.png)