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B. Barros Carlos, Franchi, A., and Oriolo, G., 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.PDF icon preprint-pdf (1.49 MB)File video (928.39 KB)