Publications

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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)
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)
2012
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)
2016
A. Petitti, Franchi, A., Di Paola, D., and Rizzo, A., “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.PDF icon preprint-pdf (1.19 MB)File video (2.9 MB)
M. Tognon, Dash, S. S., and Franchi, A., “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
PDF icon preprint-pdf (1.42 MB)File video (8.54 MB)
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)
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)
Q. Delamare, Robuffo Giordano, P., and Franchi, A., “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
PDF icon preprint-pdf (654.75 KB)File video (4.26 MB)
P. Robuffo Giordano, Delamare, Q., and Franchi, A., “Trajectory Generation for Minimum Closed-Loop State Sensitivity”, in 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane, Australia, 2018, pp. 286-293.PDF icon preprint-pdf (1.11 MB)File video (3.76 MB)
2021
A. Coelho, Sarkisov, Y., Wu, X., Mishra, H., Singh, H., Dietrich, A., Franchi, A., Kondak, K., and Ott, C., “Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation”, Journal of Intelligent & Robotic Systems, vol. 102, 2021.
2022
M. Jacquet, Kivits, M., Das, H., and Franchi, A., “Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs”, IEEE Robotics and Automation Letters, vol. 7, pp. 2063-2070, 2022.PDF icon preprint-pdf (1.02 MB)File video (42.77 MB)