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M. Hamandi, Usai, F., Sablé, Q., Staub, N., Tognon, M., and Franchi, A., Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation, The International Journal of Robotics Research, vol. 40, pp. 1015-1044, 2021.
M. Hamandi, Sawant, K., Tognon, M., and Franchi, A., 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.PDF icon preprint-pdf (4.36 MB)File video (10.59 MB)
M. Hamandi, Tognon, M., and Franchi, A., Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles, in 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France, 2020.PDF icon preprint-pdf (1.7 MB)File video (16.98 MB)
M. Hamandi, Sablé, Q., Tognon, M., and Franchi, A., 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.