Publications

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2017
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)
2016
A. Petitti, Franchi, A., Di Paola, D., and Rizzo, A., “Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators”, in 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, 2016, pp. 441-446.PDF icon preprint-pdf (1.19 MB)File video (2.9 MB)
A. Franchi, Stegagno, P., and Oriolo, G., “Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance”, Autonomous Robots, vol. 40, no. 2, pp. 245-265, 2016.PDF icon arXiv-pdf-v2-last-version (4.71 MB)PDF icon arXiv-pdf-v1-first-version-(Old) (4.47 MB)
2014
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)
G. Gioioso, Franchi, A., Salvietti, G., Scheggi, S., and Prattichizzo, D., “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.PDF icon preprint-pdf (2.89 MB)File video (4.44 MB)
M. Gagliardi, Oriolo, G., Bülthoff, H. H., and Franchi, A., “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.PDF icon preprint-pdf (1.82 MB)File video (13.1 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)
2013
G. Gioioso, Franchi, A., Salvietti, G., Scheggi, S., and Prattichizzo, D., “Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand”, RSS 2013 Work. on Aerial Mobile Manipulation. Berlin, 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.
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, 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., “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.
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)
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)
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.
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)
2012
M. Cognetti, Stegagno, P., Franchi, A., Oriolo, G., and Bülthoff, H. H., “3D Mutual Localization with Anonymous Bearing Measurements”, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.PDF icon preprint-pdf (1.87 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)
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 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)
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)
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)
F. Pasqualetti, Franchi, A., and Bullo, F., “On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms”, IEEE Transaction on Robotics, vol. 28, no. 3, pp. 592-606, 2012.PDF icon preprint-pdf (1.55 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 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)
J. W. Durham, Franchi, A., and Bullo, F., “Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers”, Autonomous Robots, vol. 32, no. 1, pp. 81-95, 2012.PDF icon preprint-pdf (3.29 MB)File video1 (880.59 KB)
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)
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)
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)
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.
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.
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)
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)
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)
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, 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)
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)
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)
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)
M. Cognetti, Stegagno, P., Franchi, A., and Oriolo, G., “Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems”, in 2nd IFAC Workshop on Multivehicle Systems, Espoo, Finland, 2012.PDF icon preprint-pdf (1.09 MB)
2011
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)
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)
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)
A. Franchi, “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.
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)
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)
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)
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)
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)
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)
P. Stegagno, Cognetti, M., Franchi, A., and Oriolo, G., “Mutual Localization using Anonymous Bearing Measurements”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 469-474.PDF icon preprint-pdf (1.24 MB)File video (4.73 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)
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)
2010
J. W. Durham, Franchi, A., and Bullo, F., “Distributed Pursuit-Evasion with Limited-Visibility Sensor Via Frontier-based Exploration”, in 2010 IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, 2010, pp. 3562-3568.PDF icon pdf (1.03 MB)File video (2.95 MB)
A. Franchi, Stegagno, P., Di Rocco, M., and Oriolo, G., “Distributed Target Localization and Encirclement with a Multi-robot System”, in 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010.PDF icon pdf (929.67 KB)
F. Pasqualetti, Franchi, A., and Bullo, F., “On Optimal Cooperative Patrolling”, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 7153-7158.PDF icon pdf (465.44 KB)
A. Franchi, Oriolo, G., and Stegagno, P., “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 icon pdf (1.26 MB)
A. Franchi, Oriolo, G., and Stegagno, P., “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 icon pdf (836.33 KB)File video (3.03 MB)
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.
2009
A. Franchi, “Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)
A. Franchi, “Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)
A. Franchi, “Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.PDF icon 2009-Franchi_PhDThesis.pdf (14.02 MB)
A. Franchi, Oriolo, G., and Stegagno, P., “Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures”, Department of Computer and System Sciences Antonio Ruberti, 2009.PDF icon pdf (1.29 MB)
A. Franchi, Oriolo, G., and Stegagno, P., “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 icon pdf (1.93 MB)File video (3.52 MB)
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., “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
PDF icon preprint-pdf (1.15 MB)
2008
A. Franchi, Freda, L., Marchionni, L., Oriolo, G., and Vendittelli, M., “Decentralized cooperative exploration: Implementation and experiments”, in 10th Int. Conf. on Intelligent Autonomous Systems, Baden-Baden, Germany, 2008, pp. 348-355.PDF icon pdf (634.37 KB)
2007
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., “A decentralized strategy for cooperative robot exploration”, in ACM International Conference Proceeding Series, Proceedings of the 1st international conference on Robot communication and coordination, Athens, Greece, 2007, vol. 318.PDF icon pdf (2.67 MB)
A. Franchi, Freda, L., Oriolo, G., and Vendittelli, M., “A Randomized Strategy for Cooperative Robot Exploration”, in 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, 2007, pp. 768-774.PDF icon pdf (802.55 KB)