Publications
“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)
, “Rigidity Maintenance Control for Multi-Robot Systems”, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012. preprint-pdf (2.47 MB)
, “Bearing-Only Formation Control Using an SE(2) Rigidity Theory”, in 54rd IEEE Conference on Decision and Control, Osaka, Japan, 2015, pp. 6121-6126. preprint-pdf (1.61 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)
, “A Nonlinear Force Observer for Quadrotors and Application to Physical Interactive Tasks”, in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besançon, France, 2014, pp. 433-440. preprint-pdf (1.11 MB)
, “Design, Identification and Experimental Testing of a Light-Weight Flexible-joint Arm for Aerial Physical Interaction”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 870-876. preprint-pdf (1.28 MB) video (10 MB)
, “Aerial Physical Interaction via IDA-PBC”, The International Journal of Robotics Research, vol. 38, no. 4, pp. 403–421, 2019. preprint-pdf (7.38 MB) video (14.22 MB)
, “Reshaping the Physical Properties of a Quadrotor through IDA-PBC and its Application to Aerial Physical Interaction”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6258-6265. preprint-pdf (553.49 KB) video (7.15 MB)
, “Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 1667-1672. preprint-pdf (482.67 KB)
, “Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-Joints”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 561-566. preprint-pdf (1.94 MB) tech_report-pdf (1015.82 KB) video (5.4 MB)
, “Modeling and Control of Multiple Aerial-Ground Manipulator System with Load Flexibility”, in 2018 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Madrid, Spain, 2018. preprint-pdf (2.16 MB) video (3.71 MB)
, “Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform”, in 14th IEEE International Conference on Automation Science and Engineering, Munich, Germany, 2018. preprint-pdf (1.41 MB) video (11.43 MB)
, “Fast Mutual Relative Localization of UAVs using Ultraviolet LED markers”, in 2018 International Conference on Unmanned Aircraft Systems, Dallas, TX, 2018, pp. 1217-1226. preprint-pdf (3.68 MB) video (11.25 MB)
, “UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs”, IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2637-2644, 2019. preprint-pdf (1.57 MB) video (24.25 MB)
, “Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020. preprint-pdf (947.92 KB) video (10.76 MB)
, “Multi-Target Visual Tracking with UAVs”, in 2014 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Chicago, IL, 2014, pp. 656-661. preprint-pdf (499.72 KB)
, “Dynamic Decentralized Control for Protocentric Aerial Manipulators”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017, pp. 6375-6380. preprint-pdf (3.63 MB) video (8.49 MB)
, “Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots”, in 14th European Control Conference, Linz, Austria, 2015, pp. 1620-1625. preprint-pdf (307.59 KB)
, “Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform”, in 20th IFAC World Congress, Toulouse, France, 2017. preprint-pdf (1.24 MB)
, Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers, vol. 140. 2020. preprint-pdf (17.08 MB)
, “Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars”, IEEE Transaction on Robotics, vol. 33, no. 4, pp. 834-845, 2017. arXiv-pdf-v2 (1.44 MB)
, “Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 3994-3999. preprint-pdf (224.15 KB) video (8.84 MB)
, “Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon, South Korea, 2016, pp. 1702-1707. preprint-pdf (974.21 KB) video (28.46 MB)
, “Aerial Co-Manipulation with Cables: The Role of Internal Force for Equilibria, Stability, and Passivity”, IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, no. 3, pp. 2577-2583, 2018.
, Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
preprint-pdf (4.84 MB)“Landing and take-off on/from sloped and non-planar surfaces with more than 50 degrees of inclination”, in 2017 International Micro Air Vehicle Conference, Toulouse, France, 2017, pp. 97-102. preprint-pdf (3.57 MB)
, “Control-Aware Motion Planning for Task-Constrained Aerial Manipulation”, IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, no. 3, pp. 2478-2484, 2018.
, Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
preprint-pdf (5.54 MB) video (8.07 MB)“Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots”, in 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, Germany, 2015, pp. 1852-1857. preprint-pdf (1.45 MB) video (8.31 MB)
, “A Truly Redundant Aerial Manipulator System with Application to Push-And-Slide Inspection in Industrial Plants”, IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1846-1851, 2019. preprint-pdf (4.39 MB) video (23.61 MB)
, “Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform”, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 732-737, 2016.
, Also selected for presentation at the 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm , Sweden
preprint-pdf (1.42 MB) video (8.54 MB)“Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Theory, Optimal Design, and Control”, IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2277-2282, 2018. preprint-pdf (3.44 MB)
, “Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation”, in 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, Compiegne, France, 2013. preprint-pdf (1.37 MB)
, “RGB-D based Haptic Teleoperation of UAVs with Onboard Sensors: Development and Preliminary Results”, in 2013 IROS Work. on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments, Tokyo, Japan, 2013.
, “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 Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 3862-3869. preprint-pdf (1.63 MB) video (9.59 MB)
, “Ground and Aerial Mutual Localization using Anonymous Relative-Bearing Measurements”, IEEE Transaction on Robotics, vol. 32, no. 5, pp. 1133-1151, 2016. preprint-pdf (4.74 MB) video (10.02 MB)
, “Towards a Flying Assistant Paradigm: the OTHex”, in 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane, Australia, 2018, pp. 6997-7002. preprint-pdf (2.88 MB) video (9.31 MB)
, “Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017, pp. 1307-1312. preprint-pdf (4.99 MB) video (2.77 MB)
, “Battery-aware Dynamical Modeling and Identification for the Total Thrust in Multi-rotor UAVs using only an Onboard Accelerometer”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 3341-3346. preprint-pdf (779.35 KB) video (8.85 MB)
, “The Tele-MAGMaS: an Aerial-Ground Co-manipulator System”, IEEE Robotics and Automation Magazine, vol. 25, no. 4, pp. 66-75, 2018. preprint-pdf (5.52 MB) video (21.39 MB)
, “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. preprint-pdf (1.24 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)
, “From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots”, in 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, 2016, pp. 2965-2970. preprint-pdf (1.58 MB) video (9.15 MB)
, “Aggressive Maneuver Regulation of a Quadrotor UAV”, in Robotics Research, The 16th International Symposium ISRR, vol. 114, Springer, 2016, pp. 95-112. preprint-pdf (934.12 KB) video_no_sat (652.65 KB) video_no_sat_zoom (1005.42 KB) video_sat_8_5 (748.78 KB) video_sat_8_5_zoom (1.43 MB) video_sat_7 (646.52 KB) video_sat_7_zoom (1.27 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)
, “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)
, “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)
, “Multi-Robot Path Planning with Maintenance of Generalized Connectivity”, in The 1st Int. Symp. on Multi-Robot and Multi-Agent Systems, Los Angeles, CA, 2017. preprint-pdf (2.56 MB)
, “Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation”, in 2013 IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, 2013. preprint-pdf (1.95 MB) video (4.73 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)
, “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. preprint-pdf (2.99 MB) video (4.05 MB)
, “Development of SAM: cable-Suspended Aerial Manipulator”, in 2019 IEEE Int. Conf. on Robotics and Automation, Montreal, Canada, 2019. preprint-pdf (1.43 MB)
, “Visual Marker based Multi-Sensor Fusion State Estimation”, in 20th IFAC World Congress, Toulouse, France, 2017. preprint-pdf (1.92 MB)
, “Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator”, IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6726-6733, 2022. preprint-pdf (8.41 MB) video (24.24 MB)
, “Full-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties”, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2185-2191, 2020. preprint-pdf (4.08 MB) video (13.69 MB)
, “Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 1689-1694. preprint-pdf (952.56 KB) video (22.85 MB)
, “6D Physical Interaction with a Fully Actuated Aerial Robot”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017, pp. 5190-5195. preprint-pdf (3.04 MB) video (9.52 MB)
, “6D Interaction Control with Aerial Robots: The Flying End-Effector Paradigm”, The International Journal of Robotics Research, vol. 38, no. 9, pp. 1045-1062, 2019. preprint-pdf (6.86 MB) video-1 (10.22 MB) video-2 (17.98 MB) video-3 (13.97 MB)
, “A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base”, in 12th IFAC Symposium on Robot Control, Budapest, Hungary, 2018. preprint-pdf (995.27 KB)
, “FAST-Hex - A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation”, IEEE/ASME Transactions on Mechatronics, 2021. preprint-pdf (4.75 MB) video (36.54 MB)
, “Cooperative Aerial Load Transportation via Sampled Communication”, IEEE Control Systems Letters, vol. 4, pp. 277-282, 2019. preprint-pdf (820.93 KB)
, “Towards Bilateral Teleoperation of Multi-Robot Systems”, 3rd Int. Work. on Human-Friendly Robotics. Tuebingen, Germany, 2010.
, “Trajectory Generation for Minimum Closed-Loop State Sensitivity”, in 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane, Australia, 2018, pp. 286-293. preprint-pdf (1.11 MB) video (3.76 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)
, “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)
, “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)
, “Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs”, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
, “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)
, “Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 4006-4013. preprint-pdf (2.14 MB) video (8.98 MB)
, “Cooperative Manipulation”, in Encyclopedia of Robotics, Springer, 2023.
, “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)
, “Inertial Estimation and Energy-Efficient Control of a Cable-suspended Load with a Team of UAVs”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020. preprint-pdf (2.08 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)
, “On Optimal Cooperative Patrolling”, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 7153-7158. pdf (465.44 KB)
, “The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance”, IEEE Robotics and Automation Magazine, Special Issue on Floating-base (Aerial and Underwater) Manipulation, vol. 25, no. 4, pp. 12-23, 2018. preprint-pdf (4.77 MB)
, “Past, Present, and Future of Aerial Robotic Manipulators”, IEEE Transactions on Robotics, 2021. preprint-pdf (9.4 MB)
, “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)
, “Human-assisted Parallel Multi-target Visiting in a Connected Topology”, 6th Int. Work. on Human-Friendly Robotics. Rome, Italy, 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.
, “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.
, “Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators”, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 331-338, 2020. preprint-pdf (3.35 MB) video (13.67 MB)
, “Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation”, in 20th IFAC World Congress, Toulouse, France, 2017. preprint-pdf (1.71 MB)
, “Energy-Efficient Trajectory Generation for a Hexarotor with Dual-Tilting Propellers”, in 2018 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Madrid, Spain, 2018. preprint-pdf (771.41 KB)
, “Cooperative Aerial Tele-Manipulation with Haptic Feedback”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 5092-5098. preprint-pdf (2.51 MB) video (4.03 MB)
, “Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control”, Applied Sciences, Special issue on Aerial Robotics for Inspection and Maintenance, vol. 11, 2021.
, “Bearing Rigidity Theory in SE(3)”, in 55th IEEE Conference on Decision and Control, Las Vegas, NV, 2016, pp. 5950-5955. 2016o-MicCenFra-preprint.pdf (204.99 KB)
, “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. preprint-pdf (2.98 MB) video (2.97 MB)
, “Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction”, in 20th IFAC World Congress, Toulouse, France, 2017. preprint-pdf (1.04 MB)
, “Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction”, Automatica, 2020. preprint-pdf (3.63 MB)
, “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.
, “Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness”, IEEE Trans. on Robotics, vol. 34, no. 3, 2018. preprint-pdf (4.27 MB) video-1-explaination (708.53 KB) video-2-triggered_failures (7.25 MB) video-3-hitting_failure (4.71 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)
, “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. preprint-pdf (3.45 MB) video (9.23 MB)
, “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. preprint-pdf (16.41 MB) video-1-hil-simulations (9.17 MB) video-2-experiments (22.12 MB) video-3-user-study (23.48 MB)
, “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.
, “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)
, “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)
, “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.
, “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)
, “Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVs”, in 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France, 2020. video (21.66 MB) preprint-pdf (1.53 MB)
, “Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs”, IEEE Robotics and Automation Letters, vol. 7, pp. 2063-2070, 2022. preprint-pdf (1.02 MB) video (42.77 MB)
, “Motor and Perception Constrained NMPC for Torque-controlled Generic Aerial Vehicles”, IEEE Robotics and Automation Letters, vol. 6, pp. 518-525, 2021. preprint-pdf (4.15 MB) video (26.2 MB)
, “Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force”, IEEE Robotics and Automation Letters, vol. 6, pp. 3949-3955, 2021. preprint-pdf (3.16 MB) video (16.08 MB)
, “Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles”, in 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France, 2020. preprint-pdf (1.7 MB) video (16.98 MB)
, “Understanding the Omnidirectional Capability of a Generic Multi-rotor Aerial Vehicle”, in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Biograd na Moru, Croatia, 2021.
, “Omni-Plus-Seven (O7+): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-directional Thrusters”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020. preprint-pdf (4.36 MB) video (10.59 MB)
, “Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation”, The International Journal of Robotics Research, vol. 40, pp. 1015-1044, 2021. preprint-pdf (12.72 MB)
, “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)
, “Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6278-6284. preprint-pdf (1.2 MB) video (8.81 MB)
, “The Flying Hand: a Teleoperation Framework for Cooperative Aerial Grasping and Transportation”, Automatica.it 2014, Convegno Annuale dei Docenti e Ricercatori Italiani in Automatica. Bergamo, Italy, 2014.
, “Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand”, RSS 2013 Work. on Aerial Mobile Manipulation. Berlin, Germany, 2013.
, “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)
, “A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 318-324. preprint-pdf (5.77 MB) video (9.13 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)
, “A Study on Force-based Collaboration in Flying Swarms”, in 11th Int. Conf. on Swarm Intelligence ANTS 2018, Rome, Italy, 2018. preprint-pdf (6.78 MB)
, “A Study on Force-based Collaboration in Swarms”, Swarm Intelligence, vol. 14, pp. 57-82, 2019. preprint-pdf (18.52 MB)
, “Input Allocation for the Propeller-Based Overactuated Platform ROSPO”, IEEE Trans. on Control Systems Technology, vol. 18, no. 6, pp. 2720-2727, 2019. preprint-pdf (3.05 MB)
, “Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms”, in 12th IFAC Symposium on Robot Control, Budapest, Hungary, 2018. preprint-pdf (759.54 KB)
, “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)
, “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.
, “Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 5517-5522. preprint-pdf (1023.7 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)
, “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)
, “Platforms with Multi-directional Total Thrust”, in Aerial Robotic Manipulation, Springer, 2019, pp. 53-65. preprint-pdf (2.88 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)“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)
, “Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force”, IEEE Trans. on Robotics, vol. 34, no. 2, pp. 534-541, 2018. preprint-pdf (3.69 MB) video-1 (21.32 MB) video-2 (16.88 MB) video-3 (4.22 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)
, “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-preprint (1.63 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)
, “Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements”, The International Journal of Robotics Research, vol. 32, no. 11, pp. 1303-1322, 2013. preprint-pdf (3.28 MB) video (5.98 MB)
, “Interaction Control of Platforms with Multi-directional Total Thrust”, in Aerial Robotic Manipulation, vol. 129, Springer, 2019, pp. 175-189. preprint-pdf (2.88 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)
, “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)
, “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)
, “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)
, “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)
, “Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots”, in Trends in Control and Decision-Making for Human-Robot Collaboration Systems, Springer, 2017, pp. 301-324. preprint-pdf (6.37 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)
, “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)
, “Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009. 2009-Franchi_PhDThesis.pdf (14.02 MB)
, “Distributed Estimation of State and Parameters in Multi-Agent Cooperative Manipulation”, IEEE Trans. on Control of Network Systems, vol. 6, no. 2, pp. 690-701, 2019. preprint-pdf (5.44 MB)
, “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. arXiv-pdf (670.68 KB)
, “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)
, “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. preprint-pdf (1.53 MB)
, “Distributed Estimation of the Inertial Parameters of an Unknown Load via Multi-Robot Manipulation”, in 53rd IEEE Conference on Decision and Control, Los Angeles, CA, 2014, pp. 6111-6116. preprint-pdf (1.13 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)
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, “Adaptive Closed-loop Speed Control of BLDC Motors with Applications to Multi-rotor Aerial Vehicles”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017. preprint-pdf (1.54 MB)
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, Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
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, “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
preprint-pdf (654.75 KB) video (4.26 MB)“A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles”, in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Biograd na Moru, Croatia, 2021.
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, “Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View”, in 2021 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2021.
, “Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation”, Journal of Intelligent & Robotic Systems, vol. 102, 2021.
, “Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots”, IEEE Transaction on Robotics, vol. 29, no. 2, pp. 475-492, 2013. preprint-pdf (1.71 MB)
, “Multi-Robot Localization via GPS and Relative Measurements in the Presence of Asynchronous and Lossy Communication”, in 15th European Control Conference, Aalborg, Denmark, 2016.
, “Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs”, Journal of Intelligent and Robotic Systems, vol. 100, pp. 1213-1247, 2020. preprint-pdf (17.6 MB)
, “A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure”, IEEE Robotics and Automation Letters, 2021. preprint-pdf (4.29 MB) video (13.92 MB)
, “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. preprint-pdf (1.49 MB) video (928.39 KB)
, “A Novel Experimental Model and a Drag-optimal Allocation Method for Variable-Pitch Propellers in Multirotors”, IEEE Access, vol. 6, pp. 68155-68168, 2018. preprint-pdf (5.4 MB)
, “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.
, “Experimental Validation of a New Adaptive Control for Quadrotors”, in 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, 2013. preprint-pdf (943.33 KB)
, “Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits”, in 2022 IEEE Int. Conf. on Robotics and Automation, Philadelphia, PA, 2022.
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