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Aerial Physical Interaction
G. Gioioso, Mohammadi, M., Franchi, A., and Prattichizzo, D., “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.PDF icon preprint-pdf (5.77 MB)File video (9.13 MB)
B. Yüksel, Mahboubi, S., Secchi, C., Bülthoff, H. H., and Franchi, A., “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.PDF icon preprint-pdf (1.28 MB)File video (10 MB)
Aerial Robotics
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, 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)
G. Gioioso, Mohammadi, M., Franchi, A., and Prattichizzo, D., “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.PDF icon preprint-pdf (5.77 MB)File video (9.13 MB)
B. Yüksel, Mahboubi, S., Secchi, C., Bülthoff, H. H., and Franchi, A., “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.PDF icon preprint-pdf (1.28 MB)File video (10 MB)
Bilateral Shared Control of Mobile Robots
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., 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)
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)
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)
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, 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)
G. Gioioso, Mohammadi, M., Franchi, A., and Prattichizzo, D., “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.PDF icon preprint-pdf (5.77 MB)File video (9.13 MB)
Calibration
A. Censi, Franchi, A., Marchionni, L., and Oriolo, G., “Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots”, IEEE Transaction on Robotics, vol. 29, no. 2, pp. 475-492, 2013.PDF icon preprint-pdf (1.71 MB)
Calibration of ground robots
A. Censi, Franchi, A., Marchionni, L., and Oriolo, G., “Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots”, IEEE Transaction on Robotics, vol. 29, no. 2, pp. 475-492, 2013.PDF icon preprint-pdf (1.71 MB)
Coverage
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)
Decentralized control
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., 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)
Distributed algorithms
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)
Estimation
A. Censi, Franchi, A., Marchionni, L., and Oriolo, G., “Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots”, IEEE Transaction on Robotics, vol. 29, no. 2, pp. 475-492, 2013.PDF icon preprint-pdf (1.71 MB)
Force feedback
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., 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)
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)
Formation control
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., 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)
Haptics
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., 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)
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)
Motion control of multiple robots
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., 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)
Motion Planning
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)
Multi-robot systems
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, 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., 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)
Optimal Trajectory Planning
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)
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)
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, 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, 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)
Teleoperation
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., 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)
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)
workshop
G. Gioioso, Salvietti, G., Franchi, A., Malvezzi, M., Scheggi, S., Meli, L., Ryll, M., Bülthoff, H. H., and Prattichizzo, D., “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.
G. Gioioso, Salvietti, G., Franchi, A., Malvezzi, M., Scheggi, S., Meli, L., Ryll, M., Bülthoff, H. H., and Prattichizzo, D., “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.