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M. Furci, Nainer, C., Zaccarian, L., and Franchi, A., “Input Allocation for the Propeller-Based Overactuated Platform ROSPO”, IEEE Trans. on Control Systems Technology, vol. 18, no. 6, pp. 2720-2727, 2019.PDF icon preprint-pdf (3.05 MB)
M. Furci, Bicego, D., and Franchi, A., “Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms”, in 12th IFAC Symposium on Robot Control, Budapest, Hungary, 2018.PDF icon preprint-pdf (759.54 KB)
A. Franchi, Petitti, A., and Rizzo, A., “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.PDF icon preprint-pdf (5.44 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, “Platforms with Multi-directional Total Thrust”, in Aerial Robotic Manipulation, Springer, 2019, pp. 53-65.PDF icon preprint-pdf (2.88 MB)
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)
A. Franchi and Robuffo Giordano, P., “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.PDF icon arXiv-pdf (670.68 KB)
A. Franchi, Carli, R., Bicego, D., and Ryll, M., “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.PDF icon preprint-pdf (3.69 MB)File video-1 (21.32 MB)File video-2 (16.88 MB)File video-3 (4.22 MB)
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, Oriolo, G., and Stegagno, P., “Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements”, The International Journal of Robotics Research, vol. 32, no. 11, pp. 1303-1322, 2013.PDF icon preprint-pdf (3.28 MB)File video (5.98 MB)
A. Franchi, Petitti, A., and Rizzo, A., “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.PDF icon preprint-pdf (1023.7 KB)
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)
A. Franchi, “Interaction Control of Platforms with Multi-directional Total Thrust”, in Aerial Robotic Manipulation, vol. 129, Springer, 2019, pp. 175-189.PDF icon preprint-pdf (2.88 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, Masone, C., and Robuffo Giordano, P., “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 icon pdf-preprint (1.63 MB)
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)
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, Petitti, A., and Rizzo, A., “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.PDF icon preprint-pdf (1.13 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)
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 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 Mallet, A., “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.PDF icon preprint-pdf (1.54 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, “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, “Towards Autonomous-collaborative and Haptic-tele-operated UAVs with Fully-onboard State Estimation and Physical Interaction Capabilities”, in 2013 IROS Work. on From Remotely-Controlled to Autonomous-Collaborative Robots, Tokyo, Japan, 2013.
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)
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, 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, “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.PDF icon preprint-pdf (6.37 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)
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, 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)
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)
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)
M. Faessler, Franchi, A., and Scaramuzza, D., “Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories”, IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 620-626, 2018.
Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
PDF icon preprint-pdf (6.21 MB)File video (10.14 MB)