@conference {2015c-GioMohFraPra,
	title = {A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment},
	booktitle = {2015 IEEE Int. Conf. on Robotics and Automation},
	year = {2015},
	month = {05/2015},
	pages = {318-324},
	address = {Seattle, WA},
	keywords = {Aerial Physical Interaction, Aerial Robotics, Bilateral Shared Control of Mobile Robots},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2015c-GioMohFraPra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2015c-GioMohFraPra.mp4},
	author = {Guido Gioioso and Mostafa Mohammadi and Antonio Franchi and Domenico Prattichizzo}
}
@conference {2014a-GioFraSalSchPra,
	title = {The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation},
	booktitle = {2014 IEEE Int. Conf. on Robotics and Automation},
	year = {2014},
	month = {05/2014},
	pages = {4335-4341},
	address = {Hong Kong, China},
	abstract = {The flying hand is a robotic hand consisting of a swarm of UAVs able to grasp an object where each UAV contributes to the grasping task with a single contact point at the tooltip. The swarm of robots is teleoperated by a human hand whose fingertip motions are tracked, e.g., using an RGB-D camera. We solve the kinematic dissimilarity of this unique master-slave system using a multi-layered approach that includes: a hand interpreter that translates the fingertip motion in a desired motion for the object to be manipulated; a mapping algorithm that transforms the desired object motions into a suitable set of virtual points deviating from the planned contact points; a compliant force control for the case of quadrotor UAVs that allows to use them as indirect 3D force effectors. Visual feedback is also used as sensory substitution technique to provide a hint on the internal forces exerted on the object. We validate the approach with several human-in-the-loop simulations including the full physical model of the object, contact points and UAVs.},
	keywords = {Aerial Physical Interaction, Aerial Robotics, Bilateral Shared Control of Mobile Robots, Motion control of multiple robots},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014a-GioFraSalSchPra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014a-GioFraSalSchPra.mp4},
	author = {Guido Gioioso and Antonio Franchi and Gionata Salvietti and Stefano Scheggi and Domenico Prattichizzo}
}
@booklet {2014l-GioSalFraMalSchMelRylBuePra,
	title = {The Flying Hand: a Teleoperation Framework for Cooperative Aerial Grasping and Transportation},
	howpublished = {Automatica.it 2014, Convegno Annuale dei Docenti e Ricercatori Italiani in Automatica},
	year = {2014},
	month = {09/2014},
	address = {Bergamo, Italy},
	keywords = {workshop},
	author = {Guido Gioioso and Gionata Salvietti and Antonio Franchi and Monica Malvezzi and Stefano Scheggi and L. Meli and Markus Ryll and Heinrich H. B{\"u}lthoff and Domenico Prattichizzo}
}
@conference {2014b-GioRylPraBueFra,
	title = {Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector},
	booktitle = {2014 IEEE Int. Conf. on Robotics and Automation},
	year = {2014},
	month = {05/2014},
	pages = {6278-6284},
	address = {Hong Kong, China},
	abstract = {In this paper the problem of a quadrotor that physically interacts with the surrounding environment through a rigid tool is considered. We present a theoretical design that allows to exert an arbitrary 3D force by using a standard near-hovering controller that was originally developed for contact-free flight control. This is achieved by analytically solving the nonlinear system that relates the quadrotor state, the force exerted by the rigid tool on the environment, and the near-hovering controller action at the equilibrium points, during any generic contact. Stability of the equilibria for the most relevant actions (pushing, releasing, lifting, dropping, and left-right shifting) are proven by means of numerical analysis using the indirect Lyapunov method. An experimental platform, including a suitable tool design, has been developed and used to validate the theory with preliminary experiments.},
	keywords = {Aerial Physical Interaction, Aerial Robotics, UAV hardware platforms},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014b-GioRylPraBueFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014b-GioRylPraBueFra.mp4},
	author = {Guido Gioioso and Markus Ryll and Domenico Prattichizzo and Heinrich H. B{\"u}lthoff and Antonio Franchi}
}
@booklet {2013m-GioFraSalSchPra,
	title = {Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand},
	howpublished = {RSS 2013 Work. on Aerial Mobile Manipulation},
	year = {2013},
	month = {06/2013},
	address = {Berlin, Germany},
	keywords = {Aerial Physical Interaction, Motion control of multiple robots},
	author = {Guido Gioioso and Antonio Franchi and Gionata Salvietti and Stefano Scheggi and Domenico Prattichizzo}
}
