Aerial Robotics

  1. Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation

    P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., “Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation”, in 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, Compiegne, France, 2013.

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  2. 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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  4. A Novel Experimental Model and a Drag-optimal Allocation Method for Variable-Pitch Propellers in Multirotors

    V. Arellano-Quintana, Merchan-Cruz, E., and Franchi, A., “A Novel Experimental Model and a Drag-optimal Allocation Method for Variable-Pitch Propellers in Multirotors”, IEEE Access, vol. 6, pp. 68155-68168, 2018.

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  5. Inertial Estimation and Energy-Efficient Control of a Cable-suspended Load with a Team of UAVs

    A. Petitti, Sanalitro, D., Tognon, M., Milella, A., Cortés, J., and Franchi, A., “Inertial Estimation and Energy-Efficient Control of a Cable-suspended Load with a Team of UAVs”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020.

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  8. 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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  10. 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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  11. Omni-Plus-Seven (O7+): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-directional Thrusters

    M. Hamandi, Sawant, K., Tognon, M., and Franchi, A., “Omni-Plus-Seven (O7+): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-directional Thrusters”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020.

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  12. Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs

    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.

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  13. RGB-D based Haptic Teleoperation of UAVs with Onboard Sensors: Development and Preliminary Results

    P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., “RGB-D based Haptic Teleoperation of UAVs with Onboard Sensors: Development and Preliminary Results”, in 2013 IROS Work. on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments, Tokyo, Japan, 2013.

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  14. Ground and Aerial Mutual Localization using Anonymous Relative-Bearing Measurements

    P. Stegagno, Cognetti, M., Oriolo, G., Bülthoff, H. H., and Franchi, A., “Ground and Aerial Mutual Localization using Anonymous Relative-Bearing Measurements”, IEEE Transaction on Robotics, vol. 32, no. 5, pp. 1133-1151, 2016.

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  17. Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs

    E. Umili, Tognon, M., Sanalitro, D., Oriolo, G., and Franchi, A., “Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020.

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  18. Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits

    A. Afifi, van Holland, M., and Franchi, A., “Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits”, in 2022 IEEE Int. Conf. on Robotics and Automation, Philadelphia, PA, 2022.

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  19. 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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  20. 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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  21. Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories

    M. Faessler, Franchi, A., and Scaramuzza, D., “Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories”, IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 620-626, 2018.

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  22. 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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  23. Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs

    D. Bicego, Mazzetto, J., Farina, M., Carli, R., and Franchi, A., “Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs”, Journal of Intelligent and Robotic Systems, vol. 100, pp. 1213-1247, 2020.

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  24. Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator

    D. Sanalitro, Tognon, M., Jimenez-Cano, A. - E., Cortés, J., and Franchi, A., “Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator”, IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6726-6733, 2022.

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  25. A Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback

    P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., “A Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 3862-3869.

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  26. Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor

    M. Ryll, Bicego, D., and Franchi, A., “Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 1689-1694.

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  30. 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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  31. 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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  33. A Truly Redundant Aerial Manipulator System with Application to Push-And-Slide Inspection in Industrial Plants

    M. Tognon, Tello Chavez, H., 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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  35. 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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  36. 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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  37. 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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  39. Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation

    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.

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  40. 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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  41. A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs

    F. Schiano, Franchi, A., Zelazo, D., and Robuffo Giordano, P., “A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 5099-5106.

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  42. 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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  43. UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs

    V. Walter, Staub, N., Franchi, A., and Saska, M., “UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs”, IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2637-2644, 2019.

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  44. Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force

    D. Horla, Hamandi, M., Giernacki, W., and Franchi, A., “Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force”, IEEE Robotics and Automation Letters, vol. 6, pp. 3949-3955, 2021.

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  45. Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs

    M. Gagliardi, Oriolo, G., Bülthoff, H. H., and Franchi, A., “Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 1902-1908.

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  46. 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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  48. 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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  49. FAST-Hex - A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation

    M. Ryll, Bicego, D., Giurato, M., Lovera, M., and Franchi, A., “FAST-Hex - A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation”, IEEE/ASME Transactions on Mechatronics, 2021.

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  50. 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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  51. Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances

    G. Antonelli, Cataldi, E., Arrichiello, F., Robuffo Giordano, P., Chiaverini, S., and Franchi, A., “Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances”, IEEE Trans. on Control Systems Technology, vol. 26, no. 1, pp. 248–254, 2018.

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  52. Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Theory, Optimal Design, and Control

    M. Tognon and Franchi, A., “Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Theory, Optimal Design, and Control”, IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2277-2282, 2018.

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  55. 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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  56. 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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  57. 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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  58. Force-Moment Decoupling and Rotor-Failure Robustness for Star-Shaped Generically-Tilted Multi-Rotors

    G. Michieletto, Cenedese, A., and Franchi, A., “Force-Moment Decoupling and Rotor-Failure Robustness for Star-Shaped Generically-Tilted Multi-Rotors”, in In 58th IEEE Conference on Decision and Control, Nice, France, 2019.

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  60. 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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  64. Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View

    A. Coelho, Sarkisov, Y., Lee, J., Balachandran, R., Franchi, A., Kondak, K., and Ott, C., “Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View”, in 2021 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2021.

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  65. 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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  67. Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform

    V. Walter, Staub, N., Saska, M., and Franchi, A., “Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform”, in 14th IEEE International Conference on Automation Science and Engineering, Munich, Germany, 2018.

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  69. Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC

    B. Barros Carlos, Franchi, A., and Oriolo, G., “Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC”, IEEE Robotics and Automation Letters, Special Issue on Shared Autonomy for Physical Human-Robot Interaction, vol. 6, pp. 7611-7618, 2021.

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  70. Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers

    S. Rajappa, Ryll, M., Bülthoff, H. H., and Franchi, A., “Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 4006-4013.

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  71. Control of Statically Hoverable Multi-Rotor Aerial Vehicles and Application to Rotor-Failure Robustness for Hexarotors

    G. Michieletto, Ryll, M., and Franchi, A., “Control of Statically Hoverable Multi-Rotor Aerial Vehicles and Application to Rotor-Failure Robustness for Hexarotors”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017.

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  74. A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

    G. Corsini, Jacquet, M., Jimenez-Cano, A. - E., Afifi, A., Sidobre, D., and Franchi, A., “A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles”, in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Biograd na Moru, Croatia, 2021.

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  76. 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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  79. Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVs

    M. Jacquet, Corsini, G., Bicego, D., and Franchi, A., “Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVs”, in 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France, 2020.

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  80. Understanding the Omnidirectional Capability of a Generic Multi-rotor Aerial Vehicle

    M. Hamandi, Sablé, Q., Tognon, M., and Franchi, A., “Understanding the Omnidirectional Capability of a Generic Multi-rotor Aerial Vehicle”, in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Biograd na Moru, Croatia, 2021.

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  82. 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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  83. Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation

    C. Nainer, Furci, M., Seuret, A., Zaccarian, L., and Franchi, A., “Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation”, in 20th IFAC World Congress, Toulouse, France, 2017.

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  84. 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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  86. Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control

    M. Mohammadi, Bicego, D., Franchi, A., Barcelli, D., and Prattichizzo, D., “Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control”, Applied Sciences, Special issue on Aerial Robotics for Inspection and Maintenance, vol. 11, 2021.

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