Publications

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Journal Article
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)
G. Michieletto, Cenedese, A., Zaccarian, L., and Franchi, A., “Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction”, Automatica, 2020.PDF icon preprint-pdf (3.63 MB)
G. Michieletto, Ryll, M., and Franchi, A., “Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness”, IEEE Trans. on Robotics, vol. 34, no. 3, 2018.PDF icon preprint-pdf (4.27 MB)File video-1-explaination (708.53 KB)File video-2-triggered_failures (7.25 MB)File video-3-hitting_failure (4.71 MB)
Conference Paper
G. Michieletto, Cenedese, A., Zaccarian, L., and Franchi, A., “Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction”, in 20th IFAC World Congress, Toulouse, France, 2017.PDF icon preprint-pdf (1.04 MB)
G. Michieletto, Cenedese, A., and Franchi, A., “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.
G. Michieletto, Ryll, M., and Franchi, A., “Control of Statically Hoverable Multi-Rotor Aerial Vehicles and Application to Rotor-Failure Robustness for Hexarotors”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017.PDF icon preprint-pdf (2.98 MB)File video (2.97 MB)
G. Michieletto, Cenedese, A., and Franchi, A., “Bearing Rigidity Theory in SE(3)”, in 55th IEEE Conference on Decision and Control, Las Vegas, NV, 2016, pp. 5950-5955.PDF icon 2016o-MicCenFra-preprint.pdf (204.99 KB)