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2018
A. Ollero, Heredia, G., Franchi, A., Antonelli, G., Kondak, K., Sanfeliu, A., Viguria, A., de Dios, J. R. Martine, Pierri, F., Cortés, J., Santamaria-Navarro, A., Trujillo, M. A., Balachandran, R., Andrade-Cetto, J., and Rodriguez, A., 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.PDF icon preprint-pdf (4.77 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)
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)
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)
N. Staub, Mohammadi, M., Bicego, D., Delamare, Q., Yang, H., Prattichizzo, D., Robuffo Giordano, P., Lee, D., and Franchi, A., The Tele-MAGMaS: an Aerial-Ground Co-manipulator System, IEEE Robotics and Automation Magazine, vol. 25, no. 4, pp. 66-75, 2018.PDF icon preprint-pdf (5.52 MB)File video (21.39 MB)
N. Staub, Bicego, D., Sablé, Q., Arellano-Quintana, V., Mishra, S., and Franchi, A., Towards a Flying Assistant Paradigm: the OTHex, in 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane, Australia, 2018, pp. 6997-7002.PDF icon preprint-pdf (2.88 MB)File video (9.31 MB)
M. Ryll, Bicego, D., and Franchi, A., A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base, in 12th IFAC Symposium on Robot Control, Budapest, Hungary, 2018.PDF icon preprint-pdf (995.27 KB)
2016
S. Spedicato, Notarstefano, G., Bülthoff, H. H., and Franchi, A., Aggressive Maneuver Regulation of a Quadrotor UAV, in Robotics Research, The 16th International Symposium ISRR, vol. 114, Springer, 2016, pp. 95-112.PDF icon preprint-pdf (934.12 KB)File video_no_sat (652.65 KB)File video_no_sat_zoom (1005.42 KB)File video_sat_8_5 (748.78 KB)File video_sat_8_5_zoom (1.43 MB)File video_sat_7 (646.52 KB)File video_sat_7_zoom (1.27 MB)
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)
B. Yüksel, Buondonno, G., and Franchi, A., 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.PDF icon preprint-pdf (1.94 MB)PDF icon tech_report-pdf (1015.82 KB)File video (5.4 MB)
P. Stegagno, Cognetti, M., Oriolo, G., Bülthoff, H. H., and Franchi, A., Ground and Aerial Mutual Localization using Anonymous Relative-Bearing Measurements, IEEE Transaction on Robotics, vol. 32, no. 5, pp. 1133-1151, 2016.PDF icon preprint-pdf (4.74 MB)File video (10.02 MB)
M. Ryll, Bicego, D., and Franchi, A., 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.PDF icon preprint-pdf (952.56 KB)File video (22.85 MB)
2014
D. Zelazo, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon arXiv-pdf-v3-last-version (4.19 MB)
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.
M. Gagliardi, Oriolo, G., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.82 MB)File video (13.1 MB)
B. Yüksel, Secchi, C., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.11 MB)
B. Yüksel, Secchi, C., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (553.49 KB)File video (7.15 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)
P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.63 MB)File video (9.59 MB)
P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.63 MB)File video (9.59 MB)
G. Gioioso, Ryll, M., Prattichizzo, D., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.2 MB)File video (8.81 MB)
2013
C. Secchi, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation, in 2013 IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, 2013.PDF icon preprint-pdf (1.95 MB)File video (4.73 MB)
H. I. Son, Franchi, A., Chuang, L. L., Kim, J., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon preprint-pdf (4.95 MB)
T. Nestmeyer, Riedel, M., Lächele, J., Hartmann, S., Botschen, F., Robuffo Giordano, P., and Franchi, A., 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.
R. Spica, Robuffo Giordano, P., Ryll, M., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.24 MB)
P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance, The International Journal of Robotics Research, vol. 32, no. 3, pp. 299-323, 2013.PDF icon preprint-pdf (3.83 MB)File video1 (9.79 MB)
P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., 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.
P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., 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.
D. Lee, Franchi, A., Son, H. I., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon preprint-pdf (3.66 MB)
V. Grabe, Riedel, M., Bülthoff, H. H., Robuffo Giordano, P., and Franchi, A., The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control, in 6th European Conference on Mobile Robots, Barcelona, Spain, 2013.PDF icon pdf-preprint (1.19 MB)
P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.37 MB)
P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., 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.PDF icon preprint-pdf (1.37 MB)
2012
M. Cognetti, Stegagno, P., Franchi, A., Oriolo, G., and Bülthoff, H. H., 3D Mutual Localization with Anonymous Bearing Measurements, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.PDF icon preprint-pdf (1.87 MB)
R. Spica, Franchi, A., Oriolo, G., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon preprint-pdf (2.12 MB)File video (7.13 MB)
C. Secchi, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon preprint-pdf (1.46 MB)File video (4.01 MB)
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)
F. Pasqualetti, Franchi, A., and Bullo, F., On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms, IEEE Transaction on Robotics, vol. 28, no. 3, pp. 592-606, 2012.PDF icon preprint-pdf (1.55 MB)
J. W. Durham, Franchi, A., and Bullo, F., Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers, Autonomous Robots, vol. 32, no. 1, pp. 81-95, 2012.PDF icon preprint-pdf (3.29 MB)File video1 (880.59 KB)
M. Riedel, Franchi, A., Bülthoff, H. H., Robuffo Giordano, P., and Son, H. I., Experiments on Intercontinental Haptic Control of Multiple UAVs, in 12th Int. Conf. on Intelligent Autonomous Systems, Jeju Island, Korea, 2012, pp. 227-238.PDF icon preprint-pdf (1.49 MB)File video (10.01 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)
M. Riedel, Bülthoff, H. H., Franchi, A., and Robuffo Giordano, P., Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.
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)
D. Zelazo, Franchi, A., Allgöwer, F., Bülthoff, H. H., and Robuffo Giordano, P., Rigidity Maintenance Control for Multi-Robot Systems, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012.PDF icon preprint-pdf (2.47 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)
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.
J. Lächele, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., SwarmSimX: Real-time Simulation Environment for Multi-robot Systems, in 3rd Int. Conf. on Simulation, Modeling, and Programming for Autonomous Robots, Tsukuba, Japan: , 2012.PDF icon preprint-pdf (1023.48 KB)
2011
P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance, in 2011 Robotics: Science and Systems Conference, Los Angeles, CA, 2011.PDF icon preprint-pdf (1.8 MB)File video (14.5 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, 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)
H. I. Son, Kim, J., Chuang, L. L., Franchi, A., Robuffo Giordano, P., Lee, D., and Bülthoff, H. H., 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.PDF icon preprint-pdf (2.04 MB)
P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., 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.PDF icon preprint-pdf (1.45 MB)File video (4.76 MB)
D. Lee, Franchi, A., Robuffo Giordano, P., Son, H. I., and Bülthoff, H. H., 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.PDF icon preprint-pdf (1.34 MB)File video (4.92 MB)
H. I. Son, Chuang, L. L., Franchi, A., Kim, J., Lee, D., Lee, S. - W., Bülthoff, H. H., and Robuffo Giordano, P., 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.PDF icon preprint-pdf (1.2 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)
2010
J. W. Durham, Franchi, A., and Bullo, F., 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 icon pdf (1.03 MB)File video (2.95 MB)
F. Pasqualetti, Franchi, A., and Bullo, F., On Optimal Cooperative Patrolling, in 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, 2010, pp. 7153-7158.PDF icon pdf (465.44 KB)
P. Robuffo Giordano, Franchi, A., Son, H. I., Secchi, C., Lee, D., and Bülthoff, H. H., Towards Bilateral Teleoperation of Multi-Robot Systems, 3rd Int. Work. on Human-Friendly Robotics. Tuebingen, Germany, 2010.