Publications
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“Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots”, Autonomous Robots, vol. 41, no. 4, pp. 989-1011, 2017. arXiv-pdf (3 MB) video-experiment-quadrotors (19.94 MB) video-sims-empty-space (3.86 MB) video-sims-office-space (3.97 MB) video-sims-town-space (4.68 MB)
, “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. preprint-pdf (1.19 MB) video (2.9 MB)
, “Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance”, Autonomous Robots, vol. 40, no. 2, pp. 245-265, 2016. arXiv-pdf-v2-last-version (4.71 MB) arXiv-pdf-v1-first-version-(Old) (4.47 MB)
, “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. arXiv-pdf-v3-last-version (4.19 MB)
, “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. preprint-pdf (2.89 MB) video (4.44 MB)
, “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. preprint-pdf (1.82 MB) video (13.1 MB)
, “Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 2703-2708. preprint-pdf (410.91 KB)
, “Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand”, RSS 2013 Work. on Aerial Mobile Manipulation. Berlin, Germany, 2013.
, “Human-assisted Parallel Multi-target Visiting in a Connected Topology”, 6th Int. Work. on Human-Friendly Robotics. Rome, Italy, 2013.
, “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. preprint-pdf (4.95 MB)
, “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.
, “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.
, “A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance”, The International Journal of Robotics Research, vol. 32, no. 3, pp. 299-323, 2013. preprint-pdf (3.83 MB) video1 (9.79 MB)
, “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. preprint-pdf (3.66 MB)
, “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.
, “The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control”, in 6th European Conference on Mobile Robots, Barcelona, Spain, 2013. pdf-preprint (1.19 MB)
, “3D Mutual Localization with Anonymous Bearing Measurements”, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012. preprint-pdf (1.87 MB)
, “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. preprint-pdf (2.12 MB) video (7.13 MB)
, “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. preprint-pdf (1.46 MB) video (4.01 MB)
, “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. preprint-pdf (1.46 MB) video (4.01 MB)
, “Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology”, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012. preprint-pdf (4.11 MB)
, “Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology”, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012. preprint-pdf (4.11 MB)
, “On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms”, IEEE Transaction on Robotics, vol. 28, no. 3, pp. 592-606, 2012. preprint-pdf (1.55 MB)
, “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. preprint-pdf (798.4 KB)
, “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. preprint-pdf (798.4 KB)
, “Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers”, Autonomous Robots, vol. 32, no. 1, pp. 81-95, 2012. preprint-pdf (3.29 MB) video1 (880.59 KB)
, “Experiments on Intercontinental Haptic Control of Multiple UAVs”, in 12th Int. Conf. on Intelligent Autonomous Systems, Jeju Island, Korea, 2012, pp. 227-238. preprint-pdf (1.49 MB) video (10.01 MB)
, “Experiments on Intercontinental Haptic Control of Multiple UAVs”, in 12th Int. Conf. on Intelligent Autonomous Systems, Jeju Island, Korea, 2012, pp. 227-238. preprint-pdf (1.49 MB) video (10.01 MB)
, “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. preprint-pdf (2.15 MB) video (9.02 MB)
, “Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs”, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
, “Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs”, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
, “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. preprint-pdf (3.81 MB)
, “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. preprint-pdf (3.81 MB)
, “Rigidity Maintenance Control for Multi-Robot Systems”, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012. preprint-pdf (2.47 MB)
, “Rigidity Maintenance Control for Multi-Robot Systems”, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012. preprint-pdf (2.47 MB)
, “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. preprint-pdf (7.17 MB)
, “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. preprint-pdf (7.17 MB)
, “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. preprint-pdf (7.17 MB)
, “SwarmSimX: Real-time Simulation Environment for Multi-robot Systems”, in 3rd Int. Conf. on Simulation, Modeling, and Programming for Autonomous Robots, Tsukuba, Japan: , 2012. preprint-pdf (1023.48 KB)
, “Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems”, in 2nd IFAC Workshop on Multivehicle Systems, Espoo, Finland, 2012. preprint-pdf (1.09 MB)
, “Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance”, in 2011 Robotics: Science and Systems Conference, Los Angeles, CA, 2011. preprint-pdf (1.8 MB) video (14.5 MB)
, “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. preprint-pdf (1.14 MB) video (8.23 MB)
, “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. preprint-pdf (1.14 MB) video (8.23 MB)
, “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.
, “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. preprint-pdf (1.2 MB)
, “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. preprint-pdf (2.04 MB)
, “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. preprint-pdf (1.45 MB) video (4.76 MB)
, “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. preprint-pdf (1.45 MB) video (4.76 MB)
, “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. preprint-pdf (1.34 MB) video (4.92 MB)
, “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. preprint-pdf (1.2 MB)
, “Mutual Localization using Anonymous Bearing Measurements”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 469-474. preprint-pdf (1.24 MB) video (4.73 MB)
, “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. preprint-pdf (870.58 KB) video (4.84 MB)
, “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. preprint-pdf (870.58 KB) video (4.84 MB)
, “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 (1.03 MB) video (2.95 MB)
, “Distributed Target Localization and Encirclement with a Multi-robot System”, in 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010. pdf (929.67 KB)
, “On Optimal Cooperative Patrolling”, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 7153-7158. pdf (465.44 KB)
, “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 (1.26 MB)
, “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 (836.33 KB) video (3.03 MB)
, “Towards Bilateral Teleoperation of Multi-Robot Systems”, 3rd Int. Work. on Human-Friendly Robotics. Tuebingen, Germany, 2010.
, “Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009. 2009-Franchi_PhDThesis.pdf (14.02 MB)
, “Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009. 2009-Franchi_PhDThesis.pdf (14.02 MB)
, “Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009. 2009-Franchi_PhDThesis.pdf (14.02 MB)
, “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 (1.93 MB) video (3.52 MB)
, “Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures”, Department of Computer and System Sciences Antonio Ruberti, 2009. pdf (1.29 MB)
, “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
preprint-pdf (1.15 MB)“Decentralized cooperative exploration: Implementation and experiments”, in 10th Int. Conf. on Intelligent Autonomous Systems, Baden-Baden, Germany, 2008, pp. 348-355. pdf (634.37 KB)
, “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 (2.67 MB)
, “A Randomized Strategy for Cooperative Robot Exploration”, in 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, 2007, pp. 768-774. pdf (802.55 KB)
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