@article {2021f-HamUsaSabStaTogFra, title = {Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation}, journal = {The International Journal of Robotics Research}, volume = {40}, year = {2021}, pages = {1015-1044}, doi = {10.1177/02783649211025998}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2021f-HamUsaSabStaTogFra.pdf}, author = {Mahmoud Hamandi and Federico Usai and Quentin Sabl{\'e} and Nicolas Staub and Marco Tognon and Antonio Franchi} } @conference {2021l-HamSabTogFra, title = {Understanding the Omnidirectional Capability of a Generic Multi-rotor Aerial Vehicle}, booktitle = {2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)}, year = {2021}, month = {Oct.}, address = {Biograd na Moru, Croatia}, author = {Mahmoud Hamandi and Quentin Sabl{\'e} and Marco Tognon and Antonio Franchi} } @article {2020a-NavSabTogPucFra, title = {Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators}, journal = {IEEE Robotics and Automation Letters}, volume = {5}, year = {2020}, month = {04/2020}, pages = {331-338}, abstract = {In this paper, we present an optimization-based method for controlling aerial manipulators in physical contact with the environment. The multi-task control problem, which includes hybrid force-motion tasks, energetic tasks, and position/postural tasks, is recast as a quadratic programming problem with equality and inequality constraints, which is solved online. Thanks to this method, the aerial platform can be exploited at its best to perform the multi-objective tasks, with tunable priorities, while hard constraints such as contact maintenance, friction cones, joint limits, maximum and minimum propeller speeds are all respected. An on-board force/torque sensor mounted at the end effector is used in the feedback loop in order to cope with model inaccuracies and reject external disturbances. Real experiments with a multi-rotor platform and a multi-DoF lightweight manipulator demonstrate the applicability and effectiveness of the proposed approach in the real world.}, keywords = {Aerial Physical Interaction, Aerial Robotics}, doi = {10.1109/LRA.2019.2958473}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2020a-NavSabTogPucFra.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2020a-NavSabTogPucFra.mp4}, author = {Gabriele Nava and Quentin Sabl{\'e} and Marco Tognon and Daniele Pucci and Antonio Franchi} } @article {2019e-TogTelGasSabBicMalLanSanRevCorFra, title = {A Truly Redundant Aerial Manipulator System with Application to Push-And-Slide Inspection in Industrial Plants}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, year = {2019}, month = {04/2019}, pages = {1846-1851}, abstract = {We present the design, motion planning and control of an aerial manipulator for non-trivial physical interaction tasks, such as pushing while sliding on curved surfaces {\textendash} a task which is motivated by the increasing interest in autonomous non-destructive tests for industrial plants. The proposed aerial manipulator consists of a multidirectional-thrust aerial vehicle {\textendash} to enhance physical interaction capabilities {\textendash} endowed with a 2-DoFs lightweight arm {\textendash} to enlarge its workspace. This combination makes it a truly-redundant manipulator going beyond standard aerial manipulators based on collinear multi- rotor platforms. The controller is based on a PID method with a {\textquoteleft}displaced{\textquoteright} positional part that ensures asymptotic stability despite the arm elasticity. A kinodynamic task-constrained and control-aware global motion planner is used. Experiments show that the proposed aerial manipulator system, equipped with an Eddy Current probe, is able to scan a metallic pipe sliding the sensor over its surface and preserving the contact. From the measures, a weld on the pipe is successfully detected and mapped.}, doi = {10.1109/LRA.2019.2895880}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019e-TogTelGasSabBicMalLanSanRevCorFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019e-TogTelGasSabBicMalLanSanRevCorFra.mp4}, author = {Marco Tognon and Hermes Tello Chavez and Enrico Gasparin and Quentin Sabl{\'e} and Davide Bicego and Anthony Mallet and Marc Lany and Gilles Santi and Bernard Revaz and Juan Cort{\'e}s and Antonio Franchi} } @conference {2018g-BicStaSabAreMisFra, title = {Towards a Flying Assistant Paradigm: the OTHex}, booktitle = {2018 IEEE Int. Conf. on Robotics and Automation}, year = {2018}, month = {05/2018}, pages = {6997-7002}, address = {Brisbane, Australia}, abstract = {This paper presents the OTHex platform for aerial manipulation developed at LAAS{\textendash}CNRS. The OTHex is probably the first multi-directional thrust platform designed to act as Flying Assistant which can aid human operators and/or Ground Manipulators to move long bars for assembly and maintenance tasks. The work emphasis is on task-driven custom design and experimental validations. The proposed control framework is built around a low-level geometric controller, and includes an external wrench estimator, an admittance filter, and a trajectory generator. This tool gives the system the necessary compliance to resist external force disturbances arising from contact with the surrounding environment or to parameter uncertainties in the load. A set of experiments validates the real-world applicability and robustness of the overall system.}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018g-BicStaSabAreMisFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018g-BicStaSabAreMisFra.mp4}, author = {Nicolas Staub and Davide Bicego and Quentin Sabl{\'e} and Victor Arellano-Quintana and Subodh Mishra and Antonio Franchi} }