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Antonio Franchi

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

Dario Sanalitro , Marco Tognon , A Jimenez Cano , Juan Cortés , Antonio Franchi et al.
IEEE Robotics and Automation Letters, 2022, 7 (3), pp.6726 - 6733. ⟨10.1109/LRA.2022.3176457⟩
Journal articles hal-03664826v1
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Past, Present and Future of Aerial Robotic Manipulators

Anibal Ollero , Marco Tognon , Alejandro Suarez , Dongjun Lee , Antonio Franchi et al.
IEEE Transactions on Robotics, 2022, 38 (1), pp.626 - 645. ⟨10.1109/TRO.2021.3084395⟩
Journal articles hal-03255846v1
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Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs

Martin Jacquet , Max Kivits , Hemjyoti Das , Antonio Franchi
IEEE Robotics and Automation Letters, 2022, 7 (2), pp.2063 - 2070. ⟨10.1109/LRA.2022.3143218⟩
Journal articles hal-03482081v3
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Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System

A E Jiménez-Cano , Dario Sanalitro , M. Tognon , A. Franchi , J. Cortés et al.
Journal of Intelligent and Robotic Systems, 2022, 105 (3), pp.68. ⟨10.1007/s10846-022-01668-3⟩
Journal articles hal-03748086v1
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FAST-Hex -A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation

Markus Ryll , Davide Bicego , Mattia Giurato , Marco Lovera , Antonio Franchi et al.
IEEE/ASME Transactions on Mechatronics, 2022, 27 (3), pp.1244 - 1255. ⟨10.1109/TMECH.2021.3099197⟩
Journal articles hal-03271812v1
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Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force

Dariusz Horla , Mahmoud Hamandi , Wojciech Giernacki , Antonio Franchi
IEEE Robotics and Automation Letters, 2021, 6 (2), pp.3949 - 3955. ⟨10.1109/LRA.2021.3067229⟩
Journal articles hal-02970615v2
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Motor and Perception Constrained NMPC for Torque-controlled Generic Aerial Vehicles

Martin Jacquet , Antonio Franchi
IEEE Robotics and Automation Letters, 2021, 6 (2), pp.518 - 525. ⟨10.1109/LRA.2020.3045654⟩
Journal articles hal-03154736v3
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Design of Multirotor Aerial Vehicles: A Taxonomy Based on Input Allocation

Mahmoud Hamandi , Federico Usai , Quentin Sablé , Nicolas Staub , Marco Tognon et al.
The International Journal of Robotics Research, 2021, 40 (8-9), pp.1015-1044. ⟨10.1177/02783649211025998⟩
Journal articles hal-02433405v2
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Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC

Bárbara Barros Carlos , Antonio Franchi , Giuseppe Oriolo
IEEE Robotics and Automation Letters, 2021, 6 (4), pp.7611 - 7618. ⟨10.1109/LRA.2021.3096502⟩
Journal articles hal-03271965v1
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A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure

Elgiz Baskaya , Mahmoud Hamandi , Murat Bronz , Antonio Franchi
IEEE Robotics and Automation Letters, 2021, 6 (2), pp 4001 - 4008. ⟨10.1109/LRA.2021.3067182⟩
Journal articles hal-02970614v2
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Input Allocation for the Propeller-Based Overactuated Platform ROSPO

Michele Furci , Carlo Nainer , Luca Zaccarian , Antonio Franchi
IEEE Transactions on Control Systems Technology, 2020, 28 (6), pp.2720 - 2727. ⟨10.1109/TCST.2019.2944341⟩
Journal articles hal-02537332v1
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Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators

Gabriele Nava , Quentin Sablé , Marco Tognon , Daniele Pucci , Antonio Franchi et al.
IEEE Robotics and Automation Letters, 2020, 5 (2), pp.331-338. ⟨10.1109/LRA.2019.2958473⟩
Journal articles hal-02453407v1
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A Study on Force-based Collaboration in Swarms

Chiara Gabellieri , Marco Tognon , Dario Sanalitro , Lucia Pallottino , Antonio Franchi et al.
Swarm Intelligence, 2020, 14, pp.57-82. ⟨10.1007/s11721-019-00178-7⟩
Journal articles hal-02346606v1
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Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs

Davide Bicego , Jacopo Mazzetto , Ruggero Carli , Marcello Farina , Antonio Franchi et al.
Journal of Intelligent and Robotic Systems, 2020, 100 (3-4), pp.1213-1247. ⟨10.1007/s10846-020-01250-9⟩
Journal articles hal-03143092v1
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Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction

Giulia Michieletto , Angelo Cenedese , Luca Zaccarian , Antonio Franchi
Automatica, 2020, 117, pp.108991. ⟨10.1016/j.automatica.2020.108991⟩
Journal articles hal-02537320v1
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Cooperative Aerial Load Transportation via Sampled Communication

Enrica Rossi , Marco Tognon , Ruggero Carli , Luca Schenato , Juan Cortés et al.
IEEE Control Systems Letters, 2020, 4 (2), pp.277-282. ⟨10.1109/LCSYS.2019.2924413⟩
Journal articles hal-02170909v1
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Full-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties

Dario Sanalitro , Heitor J Savino , Marco Tognon , Juan Cortés , Antonio Franchi et al.
IEEE Robotics and Automation Letters, 2020, 5 (2), pp.2185 - 2191. ⟨10.1109/LRA.2020.2969930⟩
Journal articles hal-02460422v1
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6D interaction control with aerial robots: The flying end-effector paradigm

Markus Ryll , Giuseppe Muscio , Francesco Pierri , Elisabetta Cataldi , Gianluca Antonelli et al.
The International Journal of Robotics Research, 2019, 38 (9), pp.1045-1062. ⟨10.1177/0278364919856694⟩
Journal articles hal-02383394v1
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Online Leader Selection for Collective Tracking and Formation Control: the Second Order Case

Antonio Franchi , Paolo Robuffo Giordano , Giulia Michieletto
IEEE Transactions on Control of Network Systems, 2019, 6 (4), pp.1415-1425. ⟨10.1109/TCNS.2019.2891011⟩
Journal articles hal-01964754v1
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Aerial Physical Interaction via IDA-PBC

Burak ¨ Yüksel , Cristian Secchi , Heinrich H Bülthoff , Antonio Franchi
The International Journal of Robotics Research, 2019, 38 (4), pp.403-421. ⟨10.1177/0278364919835605⟩
Journal articles hal-01964753v1
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A Truly Redundant Aerial Manipulator System with Application to Push-and-Slide Inspection in Industrial Plants

Marco Tognon , Hermes A Tello Chávez , Enrico Gasparin , Quentin Sablé , Davide Bicego et al.
IEEE Robotics and Automation Letters, 2019, 4 (2), pp.1846 - 1851. ⟨10.1109/LRA.2019.2895880⟩
Journal articles hal-01910343v2
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UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs

Viktor Walter , Nicolas Staub , Antonio Franchi , Martin Saska
IEEE Robotics and Automation Letters, 2019, pp.1-1. ⟨10.1109/LRA.2019.2901683⟩
Journal articles hal-02069490v1
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Distributed Estimation of State and Parameters in Multi-Agent Cooperative Load Manipulation

Antonio Franchi , Antonio Petitti , Alessandro Rizzo
IEEE Transactions on Control of Network Systems, 2018, ⟨10.1109/TCNS.2018.2873153⟩
Journal articles hal-01879384v1
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Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories

Matthias Faessler , Antonio Franchi , Davide Scaramuzza
IEEE Robotics and Automation Letters, 2018, 3 (2), pp.620-626
Journal articles hal-01658577v2
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Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances

Gianluca Antonelli , Elisabetta Cataldi , Filippo Arrichiello , Paolo Robuffo Giordano , Stefano Chiaverini et al.
IEEE Transactions on Control Systems Technology, 2018, 26 (1), pp.248-254. ⟨10.1109/TCST.2017.2650679⟩
Journal articles hal-01483653v1
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Control-Aware Motion Planning for Task-Constrained Aerial Manipulation

Marco Tognon , Elisabetta Cataldi , Hermes Amadeus A Tello Chavez , Gianluca Antonelli , Juan Cortés et al.
IEEE Robotics and Automation Letters, 2018, 3 (3), pp.2478-2484. ⟨10.1109/LRA.2018.2803206⟩
Journal articles hal-01704127v1
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A Novel Experimental Model and a Drag-optimal Allocation Method for Variable-Pitch Propellers in Multirotors

Victor Arellano-Quintana , E.A. Merchan-Cruz , Antonio Franchi
IEEE Access, 2018, pp.68155-68168
Journal articles hal-01940465v1
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Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness

Giulia Michieletto , Markus Ryll , Antonio Franchi
IEEE Transactions on Robotics, 2018, 34 (3), pp.702-715. ⟨10.1109/TRO.2018.2821155⟩
Journal articles hal-01612602v2
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Full-Pose Tracking Control for Aerial Robotic Systems With Laterally Bounded Input Force

Antonio Franchi , Ruggero Carli , Davide Bicego , Markus Ryll
IEEE Transactions on Robotics, 2018, 34 (2), pp.534-541. ⟨10.1109/TRO.2017.2786734⟩
Journal articles hal-01710770v1
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Online Leader Selection for Improved Collective Tracking and Formation Maintenance

Antonio Franchi , Paolo Robuffo Giordano
IEEE Transactions on Control of Network Systems, 2018, 5 (1), pp.3-13. ⟨10.1109/TCNS.2016.2567222⟩
Journal articles hal-01315463v1
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The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance

Anibal Ollero , Guillermo Heredia , Antonio Franchi , Gianluca Antonelli , Konstantin Kondak et al.
IEEE Robotics and Automation Magazine, 2018, 25 (4), pp.12-23. ⟨10.1109/MRA.2018.2852789⟩
Journal articles hal-01870107v1
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The Tele-MAGMaS: An Aerial-Ground Comanipulator System

Nicolas Staub , Mostafa Mohammadi , Davide Bicego , Quentin Delamare , Hyunsoo Yang et al.
IEEE Robotics and Automation Magazine, 2018, 25 (4), pp.66-75. ⟨10.1109/MRA.2018.2871344⟩
Journal articles hal-01935127v1
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Towards Aerial Physical Locomotion: the Contact-Fly-Contact Problem

Quentin Delamare , Paolo Robuffo Giordano , Antonio Franchi
IEEE Robotics and Automation Letters, 2018, 3 (3), pp.1514-1521. ⟨10.1109/LRA.2018.2800798⟩
Journal articles hal-01704043v1
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Aerial Co-Manipulation with Cables: The Role of Internal Force for Equilibria, Stability, and Passivity

Marco Tognon , Chiara Gabellieri , Lucia Pallottino , Antonio Franchi
IEEE Robotics and Automation Letters, 2018, 3 (3), pp.2577 - 2583. ⟨10.1109/LRA.2018.2803811⟩
Journal articles hal-01551105v3
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Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Analysis, Optimal Design, and Motion Control

Marco Tognon , Antonio Franchi
IEEE Robotics and Automation Letters, 2018, 3 (3), pp.2277-2282. ⟨10.1109/LRA.2018.2802544⟩
Journal articles hal-01704054v1
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Shared Planning and Control for Mobile Robots with Integral Haptic Feedback

Carlo Masone , Mostafa Mohammadi , Paolo Robuffo Giordano , Antonio Franchi
The International Journal of Robotics Research, 2018, 37 (11), pp.1395-1420. ⟨10.1177/0278364918802006⟩
Journal articles hal-01878912v1
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Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots

Thomas Nestmeyer , Paolo Robuffo Giordano , Heinrich H. Bülthoff , Antonio Franchi
Autonomous Robots, 2017, 41 (4), pp.989-1011. ⟨10.1007/s10514-016-9578-9⟩
Journal articles hal-01332937v1
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Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars

Marco Tognon , Antonio Franchi
IEEE Transactions on Robotics, 2017, 33 (4), pp. 834 - 845
Journal articles hal-01483524v1
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Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance

Antonio Franchi , Paolo Stegagno , Giuseppe Oriolo
Autonomous Robots, 2016, 40 (2), pp.245-265. ⟨10.1007/s10514-015-9450-3⟩
Journal articles hal-01228807v1
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Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements

Paolo Stegagno , Marco Cognetti , Giuseppe Oriolo , Heinrich H Bülthoff , Antonio Franchi et al.
IEEE Transactions on Robotics, 2016, 32 (5), pp.1133 - 1151. ⟨10.1109/TRO.2016.2593454⟩
Journal articles hal-01393702v1
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Observer-Based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform

Marco Tognon , Sanket Suman Dash , Antonio Franchi
IEEE Robotics and Automation Letters, 2016, 1 (2), pp. 732-737. ⟨10.1109/LRA.2016.2523599⟩
Journal articles hal-01285318v1
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Decentralized rigidity maintenance control with range measurements for multi-robot systems

Daniel Zelazo , Antonio Franchi , Heinrich H. Bülthoff , Paolo Robuffo Giordano
The International Journal of Robotics Research, 2015, 34 (1), pp.105-128. ⟨10.1177/0278364914546173⟩
Journal articles hal-01076423v1
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Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

Dongjun Lee , Antonio Franchi , Hyoung Il Son , Changsu Ha , Heinrich H Bülthoff et al.
IEEE/ASME Transactions on Mechatronics, 2013, 18 (4), pp.1334-1345. ⟨10.1109/TMECH.2013.2263963⟩
Journal articles hal-00910801v1
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Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots

Hyoung Il Son , Antonio Franchi , Lewis Chuang , Junsuk Kim , Heinrich H Bülthoff et al.
IEEE Transactions on Cybernetics, 2013, 43 (2), pp.597-609. ⟨10.1109/TSMCB.2012.2212884⟩
Journal articles hal-00910383v1
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A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance

Paolo Robuffo Giordano , Antonio Franchi , Christian Secchi , Heinrich H Bülthoff
The International Journal of Robotics Research, 2013, 32 (3), pp.299-323. ⟨10.1177/0278364912469671⟩
Journal articles hal-00910385v1
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Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles

Martin Jacquet , Antonio Franchi
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. pp.1818-1824, ⟨10.1109/IROS47612.2022.9981643⟩
Conference papers hal-03597619v1
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Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case

Gianluca Corsini , Martin Jacquet , Hemjyoti Das , Amr Afifi , Daniel Sidobre et al.
The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981045⟩
Conference papers hal-03716664v1
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A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

Gianluca Corsini , Martin Jacquet , Antonio Enrique Jimenez-Cano , Amr Afifi , Daniel Sidobre et al.
The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, Oct 2021, Biograd na Moru, Croatia. ⟨10.1109/AIRPHARO52252.2021.9571053⟩
Conference papers hal-03327702v1
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Understanding the omnidirectional capability of a generic multi-rotor aerial vehicle

Mahmoud Hamandi , Quentin Sable , Marco Tognon , Antonio Franchi
IEEE Workshop on Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Oct 2021, Biograd na Moru, Croatia. ⟨10.1109/AIRPHARO52252.2021.9571051⟩
Conference papers hal-03402718v1
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Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVS

Martin Jacquet , Gianluca Corsini , Davide Bicego , Antonio Franchi
IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris (Virtual Conference), France. pp.4301-4306, ⟨10.1109/ICRA40945.2020.9197281⟩
Conference papers hal-02974320v1
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Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles

Mahmoud Hamandi , Marco Tognon , Antonio Franchi
IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9196557⟩
Conference papers hal-02494590v1
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Omni-Plus-Seven (O 7 + ): An Omnidirectional Aerial Prototype with Minimal Uni-directional Thrusters

Mahmoud Hamandi , Kapil Sawant , Marco Tognon , Antonio Franchi
2020 International Conference on Unmanned Aircraft Systems (ICUAS), Sep 2020, Athens, Greece. ⟨10.1109/ICUAS48674.2020.9214065⟩
Conference papers hal-02498482v3
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Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs

Elena Umili , Marco Tognon , Dario Sanalitro , Giuseppe Oriolo , Antonio Franchi et al.
International Conference on Unmanned Aircraft Systems (ICUAS 2020), Sep 2020, Athènes, Greece. ⟨10.1109/ICUAS48674.2020.9214044⟩
Conference papers hal-02734894v1
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Development of SAM: cable-Suspended Aerial Manipulator

Yuri S Sarkisov , Min Kim , Davide Bicego , Dzmitry Tsetserukou , Christian Ott et al.
IEEE International Conference on Robotics and Automation (ICRA 2019), May 2019, Montreal, Canada
Conference papers hal-02069383v1
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Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform

Viktor Walter , Nicolas Staub , Martin Saska , Antonio Franchi
14th IEEE International Conference on Automation Science and Engineering (CASE), Aug 2018, Munich, Germany. 6p
Conference papers hal-01814840v1
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Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms

Michele Furci , Davide Bicego , Antonio Franchi
12th IFAC Symposium on Robot Control (SYROCO), Aug 2018, Budapest, Hungary. 6p
Conference papers hal-01846467v1
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Trajectory Generation for Minimum Closed-Loop State Sensitivity

Paolo Robuffo Giordano , Quentin Delamare , Antonio Franchi
ICRA 2018 - IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.1-8, ⟨10.1109/ICRA.2018.8460546⟩
Conference papers hal-01716843v1
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Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load Flexibility

Hyunsoo Yang , Nicolas Staub , Antonio Franchi , Dongjun Lee
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨10.1109/IROS.2018.8593834⟩
Conference papers hal-01964779v1
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A Study on Force-based Collaboration in Flying Swarms

Chiara Gabellieri , Marco Tognon , Lucia Pallottino , Antonio Franchi
International Conference on Swarm Intelligence (ANTS 2018), Oct 2018, Rome, Italy. 13p
Conference papers hal-01846465v1
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A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base

Markus Ryll , Davide Bicego , Antonio Franchi
12TH IFAC SYMPOSIUM ON ROBOT CONTROL (SYROCO 2018), Aug 2018, Budapest, Hungary. 6p
Conference papers hal-01846466v1
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Towards a Flying Assistant Paradigm: the OTHex

Nicolas Staub , Davide Bicego , Quentin Sablé , Victor Arellano-Quintana , Subodh Mishra et al.
IEEE 2018 International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia
Conference papers hal-01716845v1
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Fast Mutual Relative Localization of UAVs Using Ultraviolet LED Markers

Viktor Walter , Martin Saska , Antonio Franchi
International Conference on Unmanned Aircraft Systems (ICUAS 2018), Jun 2018, Dallas, TX, United States
Conference papers hal-01814828v1
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Energy-Efficient Trajectory Generation for a Hexarotor with Dual-Tilting Propellers

Fabio Morbidi , Davide Bicego , Markus Ryll , Antonio Franchi
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Oct 2018, Madrid, Spain. pp.6226-6232, ⟨10.1109/IROS.2018.8594419⟩
Conference papers hal-01891460v1
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6D Physical Interaction with a Fully Actuated Aerial Robot

Markus Ryll , Giuseppe Muscio , Francesco Pierri , Elisabetta Cataldi , Gianluca Antonelli et al.
2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore
Conference papers hal-01476814v1
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Multi-Robot Path Planning with Maintenance of Generalized Connectivity

Yoann Solana , Michele Furci , Juan Cortés , Antonio Franchi
2017 IEEE 1st International Symposium on Multi-Robot and Multi-Agent Systems, Dec 2017, Los Angeles, United States
Conference papers hal-01658557v1
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Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation

C Nainer , Michele Furci , Alexandre Seuret , Luca Zaccarian , Antonio Franchi et al.
IFAC World Congress 2017, Jul 2017, Toulouse, France. 6p., ⟨10.1016/j.ifacol.2017.08.2260⟩
Conference papers hal-01496283v2
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Dynamic Decentralized Control for Protocentric Aerial Manipulators

Marco Tognon , Burak Yüksel , Gabriele Buondonno , Antonio Franchi
2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 6p
Conference papers hal-01476817v1
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Landing and Take-off on/from Sloped and Non-planar Surfaces with more than 50 Degrees of Inclination

Marco Tognon , Antonio Franchi
9th International Micro Air Vehicles Conference , Sep 2017, Toulouse, France. pp.97-102
Conference papers hal-01673466v1
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Adaptive Closed-loop Speed Control of BLDC Motors with Applications to Multi-rotor Aerial Vehicles

Antonio Franchi , Anthony Mallet
IEEE International Conference on Robotics and Automation, May 2017, Singapour, Singapore
Conference papers hal-01476812v1
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Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform

Marco Tognon , Antonio Franchi
20th IFAC World Congress, Jul 2017, Toulouse, France. 7p
Conference papers hal-01501919v1
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Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems

Nicolas Staub , Mostafa Mohammadi , Davide Bicego , Domenico Prattichizzo , Antonio Franchi et al.
2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore
Conference papers hal-01476813v1
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Visual Marker based Multi-Sensor Fusion State Estimation

Jose Luis Sanchez-Lopez , Victor Arellano-Quintana , Marco Tognon , Pascual Campoy , Antonio Franchi et al.
IFAC World Congress, Jul 2017, Toulouse, France. 6p
Conference papers hal-01501980v1
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Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction

Giulia Michieletto , Angelo Cenedese , Luca Zaccarian , Antonio Franchi
IFAC World Congress 2017, Jul 2017, Toulouse, France
Conference papers hal-01513229v1
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Control of Statically Hoverable Multi-Rotor Aerial Vehicles and Application to Rotor-Failure Robustness for Hexarotors

Giulia Michieletto , Markus Ryll , Antonio Franchi
2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 6p
Conference papers hal-01476816v1

Multi-robot localization via GPS and relative measurements in the presence of asynchronous and lossy communication

Marco Todescato , Andrea Carron , Ruggero Carli , Antonio Franchi , Luca Schenato et al.
European Control Conference (ECC 2016), Jun 2016, Aalborg, Denmark. pp.2527-2532, ⟨10.1109/ECC.2016.7810670⟩
Conference papers hal-01990581v1
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From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots

Sara Spedicato , Antonio Franchi , Giuseppe Notarstefano
IEEE International Conference on Robotics & Automation (ICRA), May 2016, Stockholm, Sweden. pp.2965-2970
Conference papers hal-01271988v1
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Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments

Burak Yüksel , Nicolas Staub , Antonio Franchi
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea
Conference papers hal-01348545v1
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Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor

Markus Ryll , Davide Bicego , Antonio Franchi
IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ) 2016, Oct 2016, Daejeon, South Korea
Conference papers hal-01348538v1
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Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot

Marco Tognon , Andrea Testa , Enrica Rossi , Antonio Franchi
2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea
Conference papers hal-01350883v1
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Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators

Antonio Petitti , Antonio Franchi , Donato Di Paola , Alessandro Rizzo
2016 IEEE International Conference on Robotics & Automation (ICRA), May 2016, Stockholm, Sweden. pp. 441-446
Conference papers hal-01285043v1
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Cooperative Aerial Tele-Manipulation with Haptic Feedback

Mostafa Mohammadi , Antonio Franchi , Davide Barcelli , Domenico Prattichizzo
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea
Conference papers hal-01348539v2
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Bearing Rigidity Theory in SE(3)

Giulia Michieletto , Angelo Cenedese , Antonio Franchi
55th IEEE Conference on Decision and Control, Dec 2016, Las Vegas, United States
Conference papers hal-01371084v1
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Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-Joints

Burak Yüksel , Gabriele Buondonno , Antonio Franchi
IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea
Conference papers hal-01350867v1
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A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs

Fabrizio Schiano , Antonio Franchi , Daniel Zelazo , Paolo Robuffo Giordano
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Oct 2016, Daejeon, South Korea. pp.5099-5106
Conference papers hal-01348543v1
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Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots

Marco Tognon , Antonio Franchi
International Conference on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany
Conference papers hal-01182759v1
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A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment

Guido Gioioso , Mostafa Mohammadi , Antonio Franchi , Domenico Prattichizzo
2015 IEEE Int. Conf. on Robotics and Automation, May 2015, Seattle, United States
Conference papers hal-01135204v1
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Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements

Antonio Franchi , Antonio Petitti , Alessandro Rizzo
2015 IEEE Int. Conf. on Robotics and Automation, May 2015, Seattle, United States
Conference papers hal-01135206v2
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Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements

Marco Tognon , Antonio Franchi
IEEE International Conference on Robotics and Automation (ICRA 2015), May 2015, Seattle, United States
Conference papers hal-01124450v1
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Bearing-Only Formation Control Using an SE(2) Rigidity Theory

Daniel Zelazo , Paolo Robuffo Giordano , Antonio Franchi
IEEE Conf. on Decision and Control, CDC 2015 , Dec 2015, Osaka, Japan
Conference papers hal-01187978v1
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Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers

Sujit Rajappa , Markus Ryll , Heinrich H. Bülthoff , Antonio Franchi
IEEE ICRA 2015, May 2015, Seattle, Washington, USA, United States
Conference papers hal-01134829v1
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Battery-aware Dynamical Modeling and Identification for the Total Thrust in Multi-rotor UAVs using only an Onboard Accelerometer

Nicolas Staub , Antonio Franchi
2015 IEEE Int. Conf. on Robotics & Automation, May 2015, Seattle, United States
Conference papers hal-01137960v1
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Design, Identification and Experimental Testing of a Light-weight Flexible-joint Arm for Aerial Physical Interaction

Burak Yüksel , Saber Mahboubi , Cristian Secchi , Heinrich H Bülthoff , Antonio Franchi et al.
2015 IEEE Int. Conf. on Robotics and Automation, May 2015, Seattle, United States
Conference papers hal-01135205v2
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Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots

Marco Tognon , Antonio Franchi
European Control Conference (ECC), Jul 2015, Linz, Austria
Conference papers hal-01137736v1
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Multi-target visual tracking with aerial robots

Pratap Tokekar , Volkan Isler , Antonio Franchi
2014 IEEE Int. Conf, on Intelligent Robots and Systems, Sep 2014, Chicago, United States. ⟨10.1109/IROS.2014.6942986⟩
Conference papers hal-01137820v1
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Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control

Carlo Masone , Paolo Robuffo Giordano , Heinrich H. Bülthoff , Antonio Franchi
IEEE Int. Conf. on Robotics and Automation, ICRA'14, May 2014, Hong-Kong, Hong Kong SAR China
Conference papers hal-00949184v1
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Image-based road network clearing without localization and without maps using a team of UAVs

Matteo Gagliardi , Giuseppe Oriolo , Heinrich H Bülthoff , Antonio Franchi
2014 European Control Conference, Jun 2014, Strasbourg, France. 7p., ⟨10.1109/ECC.2014.6862560⟩
Conference papers hal-01137963v1
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A nonlinear force observer for quadrotors and application to physical interactive tasks

Burak Yüksel , Cristian Secchi , Heinrich H Bülthoff , Antonio Franchi
2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besancon, France. 8p., ⟨10.1109/AIM.2014.6878116⟩
Conference papers hal-01137966v1
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The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation

Guido Gioioso , Antonio Franchi , Gionata Salvietti , Stefano Scheggi , Domenico Prattichizzo et al.
IEEE International Conference on Robotics and Automation (ICRA 2014), May 2014, Hong Kong, China. pp.4335-4341, ⟨10.1109/ICRA.2014.6907490⟩
Conference papers hal-01990572v1
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A semi-autonomous UAV platform for indoor remote operation with visual and haptic feedback

Paolo Stegagno , Massimo Basile , Heinrich H Bülthoff , Antonio Franchi
2014 IEEE Int. Conf. on Robotics and Automation, May 2014, Hong Kong, China. 8p., ⟨10.1109/ICRA.2014.6907419⟩
Conference papers hal-01137970v1
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Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing Measurements

Daniel Zelazo , Antonio Franchi , Paolo Robuffo Giordano
European Control Conference, ECC'14, Jun 2014, Strasbourg, France
Conference papers hal-00994989v1
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Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction

Burak Yüksel , Cristian Secchi , Heinrich H Bülthoff , Antonio Franchi
2014 IEEE Int. Conf. on Robotics and Automation, May 2014, Hong Kong, China. 8p., ⟨10.1109/ICRA.2014.6907782⟩
Conference papers hal-01137967v1
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Distributed estimation of the inertial parameters of an unknown load via multi-robot manipulation

Antonio Franchi , Antonio Petitti , Alessandro Rizzo
2014 53rd IEEE Conference on Decision and Control, Dec 2014, Los Angeles, United States. ⟨10.1109/CDC.2014.7040346⟩
Conference papers hal-01137826v1
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Turning a near-hovering controlled quadrotor into a 3D force effector

Guido Gioioso , Markus Ryll , Domenico Prattichizzo , Heinrich H. Bülthoff , Antonio Franchi et al.
IEEE Int. Conf. on Robotics and Automation (ICRA 2014), May 2014, Hong Kong, China. pp.6278 - 6284, ⟨10.1109/ICRA.2014.6907785⟩
Conference papers hal-01083777v1
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The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control

Voker Grabe , Martin Riedel , Heinrich H Bülthoff , Paolo Robuffo Giordano , Antonio Franchi et al.
European Conference on Mobile Robots, ECMR 2013, Sep 2013, Barcelona, Catalonia, Spain
Conference papers hal-00908803v1
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An Open-Source Hardware/Software Architecture for Quadrotor UAVs

Riccardo Spica , Paolo Robuffo Giordano , Markus Ryll , Heinrich H Bülthoff , Antonio Franchi et al.
2nd Workshop on Research, Education and Development of Unmanned Aerial System, Nov 2013, Compiègne, France
Conference papers hal-00906138v1
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Bilateral Control of the Degree of Connectivity in Multiple Mobile-Robot Teleoperation

Christian Secchi , Antonio Franchi , Heinrich H Bülthoff , Paolo Robuffo Giordano
IEEE Int. Conf. on Robotics and Automation, ICRA 2013, May 2013, Karlsruhe, Germany. pp.3645-3652, ⟨10.1109/ICRA.2013.6631089⟩
Conference papers hal-00910833v1
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Multi-target Simultaneous Exploration with Continual Connectivity

Thomas Nestmeyer , Paolo Robuffo Giordano , Antonio Franchi
Int Workshop on Crossing the Reality Gap: From Single to Multi-to Many Robot Systems, May 2013, Karlsruhe, Germany
Conference papers hal-00917941v1
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Experimental validation of a new adaptive control scheme for quadrotors MAVs

Gianluca Antonelli, , Elisabetta Cataldi, , Paolo Robuffo Giordano , Stefano Chiaverini , Antonio Franchi et al.
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.2439-2444
Conference papers hal-00851067v1

Platforms with Multi-directional Total Thrust

Antonio Franchi
Aerial Robotic Manipulation, Springer, pp.53-65, 2019, 978-3-030-12945-3
Book sections hal-01998886v1

Interaction Control of Platforms with Multi-directional Total Thrust

Antonio Franchi
Springer. Aerial Robotic Manipulation, Springer, pp.175-189, 2019, 978-3-030-12945-3
Book sections hal-01998880v1
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Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots Mobile robot

Antonio Franchi
Trends in Control and Decision-Making for Human–Robot Collaboration Systems, pp.301-324, 2017, 978-3-319-40532-2. ⟨10.1007/978-3-319-40533-9⟩
Book sections hal-01562555v1
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Methods for the Control of Mobile Robots with applications to Multi-robot systems, Shared control and Aerial Robotics

Antonio Franchi
Automatic. Institut National Polytechnique de Toulouse, 2016
Habilitation à diriger des recherches tel-02128212v1