@conference {2015e-RajRylBueFra,
	title = {Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers},
	booktitle = {2015 IEEE Int. Conf. on Robotics and Automation},
	year = {2015},
	month = {05/2015},
	pages = {4006-4013},
	address = {Seattle, WA},
	keywords = {Aerial Robotics, UAV hardware platforms},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2015e-RajRylBueFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2015e-RajRylBueFra.mp4},
	author = {Sujit Rajappa and Markus Ryll and Heinrich H. B{\"u}lthoff and Antonio Franchi}
}
@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}
}
@conference {2013o-SpiRobRylBueFra,
	title = {An Open-Source Hardware/Software Architecture for Quadrotor UAVs},
	booktitle = {2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems},
	year = {2013},
	month = {11/2013},
	address = {Compiegne, France},
	abstract = {In this paper, we illustrate an open-source ready-to-use hardware/software architecture for a quadrotor UAV. The presented platform is price effective, highly customizable, and easily exploitable by other researchers involved in high-level UAV control tasks and for educational purposes as well. The use of object-oriented programming and full support of Robot Operating System (ROS) and Matlab Simulink allows for an efficient customization, code reuse, functionality expansion and rapid prototyping of new algorithms. We provide an extensive illustration of the various UAV components and a thorough description of the main basic algorithms and calibration procedures. Finally, we present some experimental case studies aimed at showing the effectiveness of the proposed architecture.},
	keywords = {Aerial Robotics, UAV hardware platforms},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2013o-SpiRobRylBueFra-preprint.pdf},
	author = {Riccardo Spica and Paolo Robuffo Giordano and Markus Ryll and Heinrich H. B{\"u}lthoff and Antonio Franchi}
}
