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F. Morbidi, Bicego, D., Ryll, M., and Franchi, A., “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.PDF icon preprint-pdf (771.41 KB)
M. Mohammadi, Franchi, A., Barcelli, D., and Prattichizzo, D., “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.PDF icon preprint-pdf (2.51 MB)File video (4.03 MB)
M. Mohammadi, Bicego, D., Franchi, A., Barcelli, D., and Prattichizzo, D., “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.
G. Michieletto, Cenedese, A., Zaccarian, L., and Franchi, A., “Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction”, in 20th IFAC World Congress, Toulouse, France, 2017.PDF icon preprint-pdf (1.04 MB)
G. Michieletto, Cenedese, A., Zaccarian, L., and Franchi, A., “Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction”, Automatica, 2020.PDF icon preprint-pdf (3.63 MB)
G. Michieletto, Ryll, M., and Franchi, A., “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.PDF icon preprint-pdf (2.98 MB)File video (2.97 MB)
G. Michieletto, Cenedese, A., and Franchi, A., “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.
G. Michieletto, Cenedese, A., and Franchi, A., “Bearing Rigidity Theory in SE(3)”, in 55th IEEE Conference on Decision and Control, Las Vegas, NV, 2016, pp. 5950-5955.PDF icon 2016o-MicCenFra-preprint.pdf (204.99 KB)
G. Michieletto, Ryll, M., and Franchi, A., “Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness”, IEEE Trans. on Robotics, vol. 34, no. 3, 2018.PDF icon preprint-pdf (4.27 MB)File video-1-explaination (708.53 KB)File video-2-triggered_failures (7.25 MB)File video-3-hitting_failure (4.71 MB)
C. Masone, Mohammadi, M., Robuffo Giordano, P., and Franchi, A., “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.PDF icon preprint-pdf (16.41 MB)File video-1-hil-simulations (9.17 MB)File video-2-experiments (22.12 MB)File video-3-user-study (23.48 MB)
C. Masone, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., “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.
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)
C. Masone, Robuffo Giordano, P., Bülthoff, H. H., and Franchi, A., “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.PDF icon preprint-pdf (3.45 MB)File video (9.23 MB)