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Miscellaneous
P. Robuffo Giordano, Franchi, A., Son, H. I., Secchi, C., Lee, D., and Bülthoff, H. H., “Towards Bilateral Teleoperation of Multi-Robot Systems”, 3rd Int. Work. on Human-Friendly Robotics. Tuebingen, Germany, 2010.
A. Franchi, Masone, C., and Robuffo Giordano, P., “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 icon pdf-preprint (1.63 MB)
J. Lächele, Riedel, M., Robuffo Giordano, P., and Franchi, A., “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.
C. Masone, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., “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.
T. Nestmeyer, Robuffo Giordano, P., and Franchi, A., “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.
M. Riedel, Bülthoff, H. H., Franchi, A., and Robuffo Giordano, P., “Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs”, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
T. Nestmeyer, Riedel, M., Lächele, J., Hartmann, S., Botschen, F., Robuffo Giordano, P., and Franchi, A., “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.
T. Nestmeyer, Robuffo Giordano, P., and Franchi, A., “Human-assisted Parallel Multi-target Visiting in a Connected Topology”, 6th Int. Work. on Human-Friendly Robotics. Rome, Italy, 2013.
Journal Article
Q. Delamare, Robuffo Giordano, P., and Franchi, A., “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
PDF icon preprint-pdf (654.75 KB)File video (4.26 MB)
N. Staub, Mohammadi, M., Bicego, D., Delamare, Q., Yang, H., Prattichizzo, D., Robuffo Giordano, P., Lee, D., and Franchi, A., “The Tele-MAGMaS: an Aerial-Ground Co-manipulator System”, IEEE Robotics and Automation Magazine, vol. 25, no. 4, pp. 66-75, 2018.PDF icon preprint-pdf (5.52 MB)File video (21.39 MB)
C. Masone, Mohammadi, M., Robuffo Giordano, P., and Franchi, A., “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.PDF icon preprint-pdf (16.41 MB)File video-1-hil-simulations (9.17 MB)File video-2-experiments (22.12 MB)File video-3-user-study (23.48 MB)
A. Franchi, Secchi, C., Ryll, M., Bülthoff, H. H., and Robuffo Giordano, P., “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.PDF icon preprint-pdf (7.17 MB)
D. Lee, Franchi, A., Son, H. I., Bülthoff, H. H., and Robuffo Giordano, P., “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.PDF icon preprint-pdf (3.66 MB)
P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., “A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance”, The International Journal of Robotics Research, vol. 32, no. 3, pp. 299-323, 2013.PDF icon preprint-pdf (3.83 MB)File video1 (9.79 MB)
A. Franchi, Robuffo Giordano, P., and Michieletto, G., “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.PDF icon preprint-pdf (1.53 MB)
A. Franchi and Robuffo Giordano, P., “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.PDF icon arXiv-pdf (670.68 KB)
A. Franchi, Masone, C., Grabe, V., Ryll, M., Bülthoff, H. H., and Robuffo Giordano, P., “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.PDF icon preprint-pdf (3.81 MB)
H. I. Son, Franchi, A., Chuang, L. L., Kim, J., Bülthoff, H. H., and Robuffo Giordano, P., “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.PDF icon preprint-pdf (4.95 MB)
T. Nestmeyer, Robuffo Giordano, P., Bülthoff, H. H., and Franchi, A., “Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots”, Autonomous Robots, vol. 41, no. 4, pp. 989-1011, 2017.PDF icon arXiv-pdf (3 MB)File video-experiment-quadrotors (19.94 MB)File video-sims-empty-space (3.86 MB)File video-sims-office-space (3.97 MB)File video-sims-town-space (4.68 MB)
D. Zelazo, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., “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.PDF icon arXiv-pdf-v3-last-version (4.19 MB)
A. Franchi, Secchi, C., Son, H. I., Bülthoff, H. H., and Robuffo Giordano, P., “Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology”, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012.PDF icon preprint-pdf (4.11 MB)
G. Antonelli, Cataldi, E., Arrichiello, F., Robuffo Giordano, P., Chiaverini, S., and Franchi, A., “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.
Conference Paper
P. Robuffo Giordano, Delamare, Q., and Franchi, A., “Trajectory Generation for Minimum Closed-Loop State Sensitivity”, in 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane, Australia, 2018, pp. 286-293.PDF icon preprint-pdf (1.11 MB)File video (3.76 MB)
V. Grabe, Riedel, M., Bülthoff, H. H., Robuffo Giordano, P., and Franchi, A., “The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control”, in 6th European Conference on Mobile Robots, Barcelona, Spain, 2013.PDF icon pdf-preprint (1.19 MB)
C. Masone, Robuffo Giordano, P., Bülthoff, H. H., and Franchi, A., “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.PDF icon preprint-pdf (3.45 MB)File video (9.23 MB)
F. Schiano, Franchi, A., Zelazo, D., and Robuffo Giordano, P., “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.PDF icon preprint-pdf (2.99 MB)File video (4.05 MB)
D. Zelazo, Franchi, A., and Robuffo Giordano, P., “Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 2703-2708.PDF icon preprint-pdf (410.91 KB)
D. Zelazo, Franchi, A., Allgöwer, F., Bülthoff, H. H., and Robuffo Giordano, P., “Rigidity Maintenance Control for Multi-Robot Systems”, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012.PDF icon preprint-pdf (2.47 MB)
A. Franchi, Robuffo Giordano, P., Secchi, C., Son, H. I., and Bülthoff, H. H., “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.PDF icon preprint-pdf (870.58 KB)File video (4.84 MB)
R. Spica, Robuffo Giordano, P., Ryll, M., Bülthoff, H. H., and Franchi, A., “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.PDF icon preprint-pdf (1.24 MB)
H. I. Son, Chuang, L. L., Franchi, A., Kim, J., Lee, D., Lee, S. - W., Bülthoff, H. H., and Robuffo Giordano, P., “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.PDF icon preprint-pdf (1.2 MB)
C. Masone, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., “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.PDF icon preprint-pdf (2.15 MB)File video (9.02 MB)
D. Lee, Franchi, A., Robuffo Giordano, P., Son, H. I., and Bülthoff, H. H., “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.PDF icon preprint-pdf (1.34 MB)File video (4.92 MB)
M. Riedel, Franchi, A., Bülthoff, H. H., Robuffo Giordano, P., and Son, H. I., “Experiments on Intercontinental Haptic Control of Multiple UAVs”, in 12th Int. Conf. on Intelligent Autonomous Systems, Jeju Island, Korea, 2012, pp. 227-238.PDF icon preprint-pdf (1.49 MB)File video (10.01 MB)
P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., “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.PDF icon preprint-pdf (1.45 MB)File video (4.76 MB)
G. Antonelli, Cataldi, E., Robuffo Giordano, P., Chiaverini, S., and Franchi, A., “Experimental Validation of a New Adaptive Control for Quadrotors”, in 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, 2013.PDF icon preprint-pdf (943.33 KB)
H. I. Son, Kim, J., Chuang, L. L., Franchi, A., Robuffo Giordano, P., Lee, D., and Bülthoff, H. H., “An Evaluation of Haptic Cues on the Tele-Operator’s Perceptual Awareness of Multiple UAVs’ Environments”, in IEEE – World Haptics Conference, Istanbul, Turkey, 2011, pp. 149-154.PDF icon preprint-pdf (2.04 MB)
A. Franchi, Bülthoff, H. H., and Robuffo Giordano, P., “Distributed Online Leader Selection in the Bilateral Teleoperation of Multiple UAVs”, in 50th IEEE Conference on Decision and Control , Orlando, FL, 2011, pp. 3559-3565.PDF icon preprint-pdf (1.2 MB)
A. Franchi and Robuffo Giordano, P., “Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements”, in 51th IEEE Conference on Decision and Control , Maui, HI, 2012, pp. 5310-5317.PDF icon preprint-pdf (798.4 KB)
A. Franchi, Masone, C., Bülthoff, H. H., and Robuffo Giordano, P., “Bilateral Teleoperation of Multiple UAVs with Decentralized Bearing-only Formation Control”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 2215-2222.PDF icon preprint-pdf (1.14 MB)File video (8.23 MB)
P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., “Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance”, in 2011 Robotics: Science and Systems Conference, Los Angeles, CA, 2011.PDF icon preprint-pdf (1.8 MB)File video (14.5 MB)
C. Secchi, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., “Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology”, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.PDF icon preprint-pdf (1.46 MB)File video (4.01 MB)
C. Secchi, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., “Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation”, in 2013 IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, 2013.PDF icon preprint-pdf (1.95 MB)File video (4.73 MB)
D. Zelazo, Robuffo Giordano, P., and Franchi, A., “Bearing-Only Formation Control Using an SE(2) Rigidity Theory”, in 54rd IEEE Conference on Decision and Control, Osaka, Japan, 2015, pp. 6121-6126.PDF icon preprint-pdf (1.61 MB)
R. Spica, Franchi, A., Oriolo, G., Bülthoff, H. H., and Robuffo Giordano, P., “Aerial Grasping of a Moving Target with a Quadrotor UAV”, in 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, 2012, pp. 4985-4992.PDF icon preprint-pdf (2.12 MB)File video (7.13 MB)
Book Chapter
J. Lächele, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., “SwarmSimX: Real-time Simulation Environment for Multi-robot Systems”, in 3rd Int. Conf. on Simulation, Modeling, and Programming for Autonomous Robots, Tsukuba, Japan: , 2012.PDF icon preprint-pdf (1023.48 KB)