Aerial Physical Interaction

  1. Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand

    G. Gioioso, Franchi, A., Salvietti, G., Scheggi, S., and Prattichizzo, D., “Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand”, RSS 2013 Work. on Aerial Mobile Manipulation. Berlin, Germany, 2013.

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  3. Adaptive Closed-loop Speed Control of BLDC Motors with Applications to Multi-rotor Aerial Vehicles

    A. Franchi and Mallet, A., “Adaptive Closed-loop Speed Control of BLDC Motors with Applications to Multi-rotor Aerial Vehicles”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017.

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  7. Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform

    M. Tognon and Franchi, A., “Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform”, in 20th IFAC World Congress, Toulouse, France, 2017.

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  8. The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance

    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.

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  9. Aerial Co-Manipulation with Cables: The Role of Internal Force for Equilibria, Stability, and Passivity

    M. Tognon, Gabellieri, C., Pallottino, L., and Franchi, A., “Aerial Co-Manipulation with Cables: The Role of Internal Force for Equilibria, Stability, and Passivity”, IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, no. 3, pp. 2577-2583, 2018.

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  10. Control-Aware Motion Planning for Task-Constrained Aerial Manipulation

    M. Tognon, Cataldi, E., Tello Chavez, H., Antonelli, G., Cortés, J., and Franchi, A., “Control-Aware Motion Planning for Task-Constrained Aerial Manipulation”, IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, no. 3, pp. 2478-2484, 2018.

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  12. Landing and take-off on/from sloped and non-planar surfaces with more than 50 degrees of inclination

    M. Tognon and Franchi, A., “Landing and take-off on/from sloped and non-planar surfaces with more than 50 degrees of inclination”, in 2017 International Micro Air Vehicle Conference, Toulouse, France, 2017, pp. 97-102.

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  14. The Tele-MAGMaS: an Aerial-Ground Co-manipulator System

    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.

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  16. Modeling and Control of Multiple Aerial-Ground Manipulator System with Load Flexibility

    H. Yang, Staub, N., Franchi, A., and Lee, D., “Modeling and Control of Multiple Aerial-Ground Manipulator System with Load Flexibility”, in 2018 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Madrid, Spain, 2018.

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  17. A Truly Redundant Aerial Manipulator System with Application to Push-And-Slide Inspection in Industrial Plants

    M. Tognon, Chávez, H. A. Tello, Gasparin, E., Sablé, Q., Bicego, D., Mallet, A., Lany, M., Santi, G., Revaz, B., Cortés, J., and Franchi, A., “A Truly Redundant Aerial Manipulator System with Application to Push-And-Slide Inspection in Industrial Plants”, IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1846-1851, 2019.

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  19. Cooperative Aerial Tele-Manipulation with Haptic Feedback

    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.

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  20. Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments

    B. Yüksel, Staub, N., and Franchi, A., “Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 1667-1672.

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  21. Towards Autonomous-collaborative and Haptic-tele-operated UAVs with Fully-onboard State Estimation and Physical Interaction Capabilities

    A. Franchi, “Towards Autonomous-collaborative and Haptic-tele-operated UAVs with Fully-onboard State Estimation and Physical Interaction Capabilities”, in 2013 IROS Work. on From Remotely-Controlled to Autonomous-Collaborative Robots, Tokyo, Japan, 2013.

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  22. Reshaping the Physical Properties of a Quadrotor through IDA-PBC and its Application to Aerial Physical Interaction

    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.

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  23. Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector

    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.

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  24. The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation

    G. Gioioso, Franchi, A., Salvietti, G., Scheggi, S., and Prattichizzo, D., “The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 4335-4341.

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  25. A Nonlinear Force Observer for Quadrotors and Application to Physical Interactive Tasks

    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.

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  26. Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements

    M. Tognon and Franchi, A., “Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 3994-3999.

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  27. A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment

    G. Gioioso, Mohammadi, M., Franchi, A., and Prattichizzo, D., “A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 318-324.

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  28. Battery-aware Dynamical Modeling and Identification for the Total Thrust in Multi-rotor UAVs using only an Onboard Accelerometer

    N. Staub and Franchi, A., “Battery-aware Dynamical Modeling and Identification for the Total Thrust in Multi-rotor UAVs using only an Onboard Accelerometer”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 3341-3346.

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  29. Design, Identification and Experimental Testing of a Light-Weight Flexible-joint Arm for Aerial Physical Interaction

    B. Yüksel, Mahboubi, S., Secchi, C., Bülthoff, H. H., and Franchi, A., “Design, Identification and Experimental Testing of a Light-Weight Flexible-joint Arm for Aerial Physical Interaction”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 870-876.

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  30. Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots

    M. Tognon and Franchi, A., “Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots”, in 14th European Control Conference, Linz, Austria, 2015, pp. 1620-1625.

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  32. From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots

    S. Spedicato, Franchi, A., and Notarstefano, G., “From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots”, in 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, 2016, pp. 2965-2970.

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  33. Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform

    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.

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  35. Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot

    M. Tognon, Testa, A., Rossi, E., and Franchi, A., “Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon, South Korea, 2016, pp. 1702-1707.

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  36. Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-Joints

    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.

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  37. 6D Interaction Control with Aerial Robots: The Flying End-Effector Paradigm

    M. Ryll, Muscio, G., Pierri, F., Cataldi, E., Antonelli, G., Caccavale, F., Bicego, D., and Franchi, A., “6D Interaction Control with Aerial Robots: The Flying End-Effector Paradigm”, The International Journal of Robotics Research, vol. 38, no. 9, pp. 1045-1062, 2019.

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