Publications
“Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009. 2009-Franchi_PhDThesis.pdf (14.02 MB)
, “Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures”, Department of Computer and System Sciences Antonio Ruberti, 2009. pdf (1.29 MB)
, “Towards Bilateral Teleoperation of Multi-Robot Systems”, 3rd Int. Work. on Human-Friendly Robotics. Tuebingen, Germany, 2010.
, “A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation”, 2012 IEEE IROS Work. on Real-time Motion Planning: Online, Reactive, and in Real-time. Vilamoura, Portugal, 2012. pdf-preprint (1.63 MB)
, “SwarmSimX and TeleKyb: Two ROS-integrated Software Frameworks for Single- and Multi-Robot Applications”, Int. Work. on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany, 2013.
, “Shared Trajectory Planning for Human-in-the-loop Navigation of Mobile Robots in Cluttered Environments”, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
, “Multi-target Simultaneous Exploration with Continual Connectivity”, 2th Int. Work. on Crossing the Reality Gap - From Single to Multi- to Many Robot Systems, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany, 2013.
, “Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs”, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
, “Interactive Demo: Haptic Remote Control of Multiple UAVs with Autonomous Cohesive Behavior”, Int. Work. on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany, 2013.
, “Human-assisted Parallel Multi-target Visiting in a Connected Topology”, 6th Int. Work. on Human-Friendly Robotics. Rome, Italy, 2013.
, “Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand”, RSS 2013 Work. on Aerial Mobile Manipulation. Berlin, Germany, 2013.
, “The Flying Hand: a Teleoperation Framework for Cooperative Aerial Grasping and Transportation”, Automatica.it 2014, Convegno Annuale dei Docenti e Ricercatori Italiani in Automatica. Bergamo, Italy, 2014.
, “Decentralized Bilateral Aerial Teleoperation of Multiple UAVs - Part I: a Top-Down Perspective”, RSS 2011 Workshop on 3D Exploration, Mapping, and Surveillance with Aerial Robots. Los Angeles, CA, 2011.
, “Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation”, Journal of Intelligent & Robotic Systems, vol. 102, 2021.
, “UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs”, IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2637-2644, 2019. preprint-pdf (1.57 MB) video (24.25 MB)
, “A Truly Redundant Aerial Manipulator System with Application to Push-And-Slide Inspection in Industrial Plants”, IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1846-1851, 2019. preprint-pdf (4.39 MB) video (23.61 MB)
, “Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC”, IEEE Robotics and Automation Letters, Special Issue on Shared Autonomy for Physical Human-Robot Interaction, vol. 6, pp. 7611-7618, 2021. preprint-pdf (1.49 MB) video (928.39 KB)
, “Towards Aerial Physical Locomotion: the Contact-Fly-Contact Problem”, IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, pp. 1514-1521, 2018.
, Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
preprint-pdf (654.75 KB) video (4.26 MB)“The Tele-MAGMaS: an Aerial-Ground Co-manipulator System”, IEEE Robotics and Automation Magazine, vol. 25, no. 4, pp. 66-75, 2018. preprint-pdf (5.52 MB) video (21.39 MB)
, “A Study on Force-based Collaboration in Swarms”, Swarm Intelligence, vol. 14, pp. 57-82, 2019. preprint-pdf (18.52 MB)
, “Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots”, IEEE Transaction on Robotics, vol. 29, no. 2, pp. 475-492, 2013. preprint-pdf (1.71 MB)
, “Shared Planning and Control for Mobile Robots with Integral Haptic Feedback”, The International Journal of Robotics Research, vol. 37, no. 11, pp. 1395-1420, 2018. preprint-pdf (16.41 MB) video-1-hil-simulations (9.17 MB) video-2-experiments (22.12 MB) video-3-user-study (23.48 MB)
, “Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs.”, IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform, vol. 19, no. 3, pp. 57-68, 2012. preprint-pdf (7.17 MB)
, “The Sensor-based Random Graph Method for Cooperative Robot Exploration”, IEEE/ASME Transaction on Mechatronics, vol. 14, no. 2, pp. 163-175, 2009.
, Winner of the IEEE RAS ICYA Best Paper Award 2010 link
preprint-pdf (1.15 MB)“Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles”, IEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics, vol. 18, no. 4, pp. 1334-1345, 2013. preprint-pdf (3.66 MB)
, “Past, Present, and Future of Aerial Robotic Manipulators”, IEEE Transactions on Robotics, 2021. preprint-pdf (9.4 MB)
, “A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance”, The International Journal of Robotics Research, vol. 32, no. 3, pp. 299-323, 2013. preprint-pdf (3.83 MB) video1 (9.79 MB)
, “Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force”, IEEE Robotics and Automation Letters, vol. 6, pp. 3949-3955, 2021. preprint-pdf (3.16 MB) video (16.08 MB)
, “Online Leader Selection for Improved Collective Tracking and Formation Maintenance”, IEEE Trans. on Control of Network Systems, vol. 5, no. 1, pp. 3-13, 2018. arXiv-pdf (670.68 KB)
, “Online Leader Selection for Improved Collective Tracking and Formation Control: the Second Order Case”, IEEE Transactions on Control of Network Systems, vol. 6, no. 4, pp. 1415-1425, 2019. preprint-pdf (1.53 MB)
, “Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Theory, Optimal Design, and Control”, IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2277-2282, 2018. preprint-pdf (3.44 MB)
, “Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform”, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 732-737, 2016.
, Also selected for presentation at the 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm , Sweden
preprint-pdf (1.42 MB) video (8.54 MB)“A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure”, IEEE Robotics and Automation Letters, 2021. preprint-pdf (4.29 MB) video (13.92 MB)
, “A Novel Experimental Model and a Drag-optimal Allocation Method for Variable-Pitch Propellers in Multirotors”, IEEE Access, vol. 6, pp. 68155-68168, 2018. preprint-pdf (5.4 MB)
, “Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs”, Journal of Intelligent and Robotic Systems, vol. 100, pp. 1213-1247, 2020. preprint-pdf (17.6 MB)
, “Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements”, The International Journal of Robotics Research, vol. 32, no. 11, pp. 1303-1322, 2013. preprint-pdf (3.28 MB) video (5.98 MB)
, “Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs”, IEEE Robotics and Automation Letters, vol. 7, pp. 2063-2070, 2022. preprint-pdf (1.02 MB) video (42.77 MB)
, “Motor and Perception Constrained NMPC for Torque-controlled Generic Aerial Vehicles”, IEEE Robotics and Automation Letters, vol. 6, pp. 518-525, 2021. preprint-pdf (4.15 MB) video (26.2 MB)
, “Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering”, The International Journal of Robotics Research, Special Issue on 3D Exploration, Mapping, and Surveillance, vol. 31, no. 12, pp. 1504-1525, 2012. preprint-pdf (3.81 MB)
, “Input Allocation for the Propeller-Based Overactuated Platform ROSPO”, IEEE Trans. on Control Systems Technology, vol. 18, no. 6, pp. 2720-2727, 2019. preprint-pdf (3.05 MB)
, “Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator”, IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6726-6733, 2022. preprint-pdf (8.41 MB) video (24.24 MB)
, “Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots”, IEEE Transactions on Systems, Man, & Cybernetics. Part B: Cybernetics, vol. 43, no. 2, pp. 597-609, 2013. preprint-pdf (4.95 MB)
, “Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction”, Automatica, 2020. preprint-pdf (3.63 MB)
, “Ground and Aerial Mutual Localization using Anonymous Relative-Bearing Measurements”, IEEE Transaction on Robotics, vol. 32, no. 5, pp. 1133-1151, 2016. preprint-pdf (4.74 MB) video (10.02 MB)
, “Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness”, IEEE Trans. on Robotics, vol. 34, no. 3, 2018. preprint-pdf (4.27 MB) video-1-explaination (708.53 KB) video-2-triggered_failures (7.25 MB) video-3-hitting_failure (4.71 MB)
, “Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force”, IEEE Trans. on Robotics, vol. 34, no. 2, pp. 534-541, 2018. preprint-pdf (3.69 MB) video-1 (21.32 MB) video-2 (16.88 MB) video-3 (4.22 MB)
, “Full-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties”, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2185-2191, 2020. preprint-pdf (4.08 MB) video (13.69 MB)
, “FAST-Hex - A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation”, IEEE/ASME Transactions on Mechatronics, 2021. preprint-pdf (4.75 MB) video (36.54 MB)
, “Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars”, IEEE Transaction on Robotics, vol. 33, no. 4, pp. 834-845, 2017. arXiv-pdf-v2 (1.44 MB)
, “Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers”, Autonomous Robots, vol. 32, no. 1, pp. 81-95, 2012. preprint-pdf (3.29 MB) video1 (880.59 KB)
, “Distributed Estimation of State and Parameters in Multi-Agent Cooperative Manipulation”, IEEE Trans. on Control of Network Systems, vol. 6, no. 2, pp. 690-701, 2019. preprint-pdf (5.44 MB)
, “Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators”, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 331-338, 2020. preprint-pdf (3.35 MB) video (13.67 MB)
, “Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories”, IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 620-626, 2018.
, Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
preprint-pdf (6.21 MB) video (10.14 MB)“Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation”, The International Journal of Robotics Research, vol. 40, pp. 1015-1044, 2021. preprint-pdf (12.72 MB)
, “Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots”, Autonomous Robots, vol. 41, no. 4, pp. 989-1011, 2017. arXiv-pdf (3 MB) video-experiment-quadrotors (19.94 MB) video-sims-empty-space (3.86 MB) video-sims-office-space (3.97 MB) video-sims-town-space (4.68 MB)
, “Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems”, The International Journal of Robotics Research, vol. 34, no. 1, pp. 105-128, 2014. arXiv-pdf-v3-last-version (4.19 MB)
, “Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance”, Autonomous Robots, vol. 40, no. 2, pp. 245-265, 2016. arXiv-pdf-v2-last-version (4.71 MB) arXiv-pdf-v1-first-version-(Old) (4.47 MB)
, “On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms”, IEEE Transaction on Robotics, vol. 28, no. 3, pp. 592-606, 2012. preprint-pdf (1.55 MB)
, “Cooperative Aerial Load Transportation via Sampled Communication”, IEEE Control Systems Letters, vol. 4, pp. 277-282, 2019. preprint-pdf (820.93 KB)
, “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.
, Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
preprint-pdf (5.54 MB) video (8.07 MB)“Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology”, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012. preprint-pdf (4.11 MB)
, “The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance”, IEEE Robotics and Automation Magazine, Special Issue on Floating-base (Aerial and Underwater) Manipulation, vol. 25, no. 4, pp. 12-23, 2018. preprint-pdf (4.77 MB)
, “Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control”, Applied Sciences, Special issue on Aerial Robotics for Inspection and Maintenance, vol. 11, 2021.
, “Aerial Physical Interaction via IDA-PBC”, The International Journal of Robotics Research, vol. 38, no. 4, pp. 403–421, 2019. preprint-pdf (7.38 MB) video (14.22 MB)
, “Aerial Co-Manipulation with Cables: The Role of Internal Force for Equilibria, Stability, and Passivity”, IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, no. 3, pp. 2577-2583, 2018.
, Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
preprint-pdf (4.84 MB)“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)
, “Visual Marker based Multi-Sensor Fusion State Estimation”, in 20th IFAC World Congress, Toulouse, France, 2017. preprint-pdf (1.92 MB)
, “Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation”, in 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, Compiegne, France, 2013. preprint-pdf (1.37 MB)
, “Understanding the Omnidirectional Capability of a Generic Multi-rotor Aerial Vehicle”, in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Biograd na Moru, Croatia, 2021.
, “Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems”, in 2nd IFAC Workshop on Multivehicle Systems, Espoo, Finland, 2012. preprint-pdf (1.09 MB)
, “Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6278-6284. preprint-pdf (1.2 MB) video (8.81 MB)
, “A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base”, in 12th IFAC Symposium on Robot Control, Budapest, Hungary, 2018. preprint-pdf (995.27 KB)
, “Trajectory Generation for Minimum Closed-Loop State Sensitivity”, in 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane, Australia, 2018, pp. 286-293. preprint-pdf (1.11 MB) video (3.76 MB)
, “Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017, pp. 1307-1312. preprint-pdf (4.99 MB) video (2.77 MB)
, “Towards Autonomous-collaborative and Haptic-tele-operated UAVs with Fully-onboard State Estimation and Physical Interaction Capabilities”, in 2013 IROS Work. on From Remotely-Controlled to Autonomous-Collaborative Robots, Tokyo, Japan, 2013.
, “Towards a Flying Assistant Paradigm: the OTHex”, in 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane, Australia, 2018, pp. 6997-7002. preprint-pdf (2.88 MB) video (9.31 MB)
, “Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits”, in 2022 IEEE Int. Conf. on Robotics and Automation, Philadelphia, PA, 2022.
, “The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control”, in 6th European Conference on Mobile Robots, Barcelona, Spain, 2013. pdf-preprint (1.19 MB)
, “Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon, South Korea, 2016, pp. 1702-1707. preprint-pdf (974.21 KB) video (28.46 MB)
, “A Study on Force-based Collaboration in Flying Swarms”, in 11th Int. Conf. on Swarm Intelligence ANTS 2018, Rome, Italy, 2018. preprint-pdf (6.78 MB)
, “On the Solvability of the Mutual Localization Problem with Anonymous Position Measures”, in 2010 IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, 2010, pp. 3193-3199. pdf (836.33 KB) video (3.03 MB)
, “A Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 3862-3869. preprint-pdf (1.63 MB) video (9.59 MB)
, “Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6468-6475. preprint-pdf (3.45 MB) video (9.23 MB)
, “A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 5099-5106. preprint-pdf (2.99 MB) video (4.05 MB)
, “Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 2703-2708. preprint-pdf (410.91 KB)
, “Rigidity Maintenance Control for Multi-Robot Systems”, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012. preprint-pdf (2.47 MB)
, “RGB-D based Haptic Teleoperation of UAVs with Onboard Sensors: Development and Preliminary Results”, in 2013 IROS Work. on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments, Tokyo, Japan, 2013.
, “Reshaping the Physical Properties of a Quadrotor through IDA-PBC and its Application to Aerial Physical Interaction”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6258-6265. preprint-pdf (553.49 KB) video (7.15 MB)
, “A Randomized Strategy for Cooperative Robot Exploration”, in 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, 2007, pp. 768-774. pdf (802.55 KB)
, “Probabilistic Mutual Localization in Multi-agent Systems from Anonymous Position Measures”, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 6534-6540. pdf (1.26 MB)
, “Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform”, in 20th IFAC World Congress, Toulouse, France, 2017. preprint-pdf (1.24 MB)
, “Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVs”, in 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France, 2020. video (21.66 MB) preprint-pdf (1.53 MB)
, “A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology”, in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011, pp. 898-905. preprint-pdf (870.58 KB) video (4.84 MB)
, “On Optimal Cooperative Patrolling”, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 7153-7158. pdf (465.44 KB)
, “An Open-Source Hardware/Software Architecture for Quadrotor UAVs”, in 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, Compiegne, France, 2013. preprint-pdf (1.24 MB)
, “Omni-Plus-Seven (O7+): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-directional Thrusters”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020. preprint-pdf (4.36 MB) video (10.59 MB)
, “Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 3994-3999. preprint-pdf (224.15 KB) video (8.84 MB)
, “Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots”, in 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, Germany, 2015, pp. 1852-1857. preprint-pdf (1.45 MB) video (8.31 MB)
, “A Nonlinear Force Observer for Quadrotors and Application to Physical Interactive Tasks”, in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besançon, France, 2014, pp. 433-440. preprint-pdf (1.11 MB)
, “Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction”, in 20th IFAC World Congress, Toulouse, France, 2017. preprint-pdf (1.04 MB)
, “Mutual Localization using Anonymous Bearing Measurements”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 469-474. preprint-pdf (1.24 MB) video (4.73 MB)
, “Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform”, in 14th IEEE International Conference on Automation Science and Engineering, Munich, Germany, 2018. preprint-pdf (1.41 MB) video (11.43 MB)
, “Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures”, in 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, St. Louis, MO, 2009, pp. 3974-3980. pdf (1.93 MB) video (3.52 MB)
, “Multi-Target Visual Tracking with UAVs”, in 2014 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Chicago, IL, 2014, pp. 656-661. preprint-pdf (499.72 KB)
, “Multi-Robot Path Planning with Maintenance of Generalized Connectivity”, in The 1st Int. Symp. on Multi-Robot and Multi-Agent Systems, Los Angeles, CA, 2017. preprint-pdf (2.56 MB)
, “Multi-Robot Localization via GPS and Relative Measurements in the Presence of Asynchronous and Lossy Communication”, in 15th European Control Conference, Aalborg, Denmark, 2016.
, “Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 4006-4013. preprint-pdf (2.14 MB) video (8.98 MB)
, “Modeling and Control of Multiple Aerial-Ground Manipulator System with Load Flexibility”, in 2018 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Madrid, Spain, 2018. preprint-pdf (2.16 MB) video (3.71 MB)
, “Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 1689-1694. preprint-pdf (952.56 KB) video (22.85 MB)
, “Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 3039-3046. preprint-pdf (1.2 MB)
, “Landing and take-off on/from sloped and non-planar surfaces with more than 50 degrees of inclination”, in 2017 International Micro Air Vehicle Conference, Toulouse, France, 2017, pp. 97-102. preprint-pdf (3.57 MB)
, “Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots”, in 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, 2012, pp. 2641-2648. preprint-pdf (2.15 MB) video (9.02 MB)
, “Inertial Estimation and Energy-Efficient Control of a Cable-suspended Load with a Team of UAVs”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020. preprint-pdf (2.08 MB)
, “Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 1902-1908. preprint-pdf (1.82 MB) video (13.1 MB)
, “Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation”, in 20th IFAC World Congress, Toulouse, France, 2017. preprint-pdf (1.71 MB)
, “Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View”, in 2021 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2021.
, “Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet”, in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011, pp. 1341-1347. preprint-pdf (1.34 MB) video (4.92 MB)
, “A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles”, in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Biograd na Moru, Croatia, 2021.
, “From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots”, in 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, 2016, pp. 2965-2970. preprint-pdf (1.58 MB) video (9.15 MB)
, “Force-Moment Decoupling and Rotor-Failure Robustness for Star-Shaped Generically-Tilted Multi-Rotors”, in In 58th IEEE Conference on Decision and Control, Nice, France, 2019.
, “A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 318-324. preprint-pdf (5.77 MB) video (9.13 MB)
, “The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 4335-4341. preprint-pdf (2.89 MB) video (4.44 MB)
, “Fast Mutual Relative Localization of UAVs using Ultraviolet LED markers”, in 2018 International Conference on Unmanned Aircraft Systems, Dallas, TX, 2018, pp. 1217-1226. preprint-pdf (3.68 MB) video (11.25 MB)
, “Experiments on Intercontinental Haptic Control of Multiple UAVs”, in 12th Int. Conf. on Intelligent Autonomous Systems, Jeju Island, Korea, 2012, pp. 227-238. preprint-pdf (1.49 MB) video (10.01 MB)
, “Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 163-170. preprint-pdf (1.45 MB) video (4.76 MB)
, “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)
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