Antonio Franchi
Publications
Publications
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Impact-Robust Posture Optimization for Aerial ManipulationICRA 2026 - IEEE International Conference on Robotics and Automation, Jun 2026, Vienna, Austria |
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Embedded Robust Model Predictive Path Integral Control using Sensitivity Tubes and GPU AccelerationICRA 2025 - IEEE International Conference on Robotics & Automation, May 2025, Altlanta, United States. pp.7174-7180, ⟨10.1109/icra55743.2025.11127520⟩ |
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Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric UncertaintyICUAS 2024 - International Conference on Unmanned Aircraft Systems, Jun 2024, Chania Crete, Greece. pp.572-578, ⟨10.1109/ICUAS60882.2024.10556958⟩ |
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Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons LearnedThe 2023 International Conference on Unmanned Aircraft Systems (ICUAS 2023), Jun 2023, Warsaw, Poland. ⟨10.1109/ICUAS57906.2023.10156609⟩ |
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Controller and Trajectory Optimization for a Quadrotor UAV with Parametric UncertaintyIROS2023, Oct 2023, Detroit (Michigan), United States |
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Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force BiasIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Oct 2023, Michigan, United States. pp.6920-6926, ⟨10.1109/IROS55552.2023.10342240⟩ |
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Controller and Trajectory Optimization for a Quadrotor UAV with Parametric UncertaintyIROS 2023 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2023, Detroit (MI), United States. pp.1-7 |
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Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial VehiclesIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. pp.1818-1824, ⟨10.1109/IROS47612.2022.9981643⟩ |
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Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial CaseThe 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981045⟩ |
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Understanding the omnidirectional capability of a generic multi-rotor aerial vehicleIEEE Workshop on Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Oct 2021, Biograd na Moru, Croatia. ⟨10.1109/AIRPHARO52252.2021.9571051⟩ |
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A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial VehiclesThe 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, Oct 2021, Biograd na Moru, Croatia. ⟨10.1109/AIRPHARO52252.2021.9571053⟩ |
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Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVSIEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris (Virtual Conference), France. pp.4301-4306, ⟨10.1109/ICRA40945.2020.9197281⟩ |
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Omni-Plus-Seven (O 7 + ): An Omnidirectional Aerial Prototype with Minimal Uni-directional Thrusters2020 International Conference on Unmanned Aircraft Systems (ICUAS), Sep 2020, Athens, Greece. ⟨10.1109/ICUAS48674.2020.9214065⟩ |
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Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVsInternational Conference on Unmanned Aircraft Systems (ICUAS 2020), Sep 2020, Athènes, Greece. ⟨10.1109/ICUAS48674.2020.9214044⟩ |
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Direct Acceleration Feedback Control of Quadrotor Aerial VehiclesIEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9196557⟩ |
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Development of SAM: cable-Suspended Aerial ManipulatorIEEE International Conference on Robotics and Automation (ICRA 2019), May 2019, Montreal, Canada |
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Towards a Flying Assistant Paradigm: the OTHexIEEE 2018 International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia |
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A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base12TH IFAC SYMPOSIUM ON ROBOT CONTROL (SYROCO 2018), Aug 2018, Budapest, Hungary. 6p |
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Trajectory Generation for Minimum Closed-Loop State SensitivityICRA 2018 - IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.1-8, ⟨10.1109/ICRA.2018.8460546⟩ |
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Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform14th IEEE International Conference on Automation Science and Engineering (CASE), Aug 2018, Munich, Germany. 6p |
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Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms12th IFAC Symposium on Robot Control (SYROCO), Aug 2018, Budapest, Hungary. 6p |
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A Study on Force-based Collaboration in Flying SwarmsInternational Conference on Swarm Intelligence (ANTS 2018), Oct 2018, Rome, Italy. 13p |
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Energy-Efficient Trajectory Generation for a Hexarotor with Dual-Tilting PropellersIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Oct 2018, Madrid, Spain. pp.6226-6232, ⟨10.1109/IROS.2018.8594419⟩ |
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Fast Mutual Relative Localization of UAVs Using Ultraviolet LED MarkersInternational Conference on Unmanned Aircraft Systems (ICUAS 2018), Jun 2018, Dallas, TX, United States |
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Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load FlexibilityIEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨10.1109/IROS.2018.8593834⟩ |
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Multi-Robot Path Planning with Maintenance of Generalized Connectivity2017 IEEE 1st International Symposium on Multi-Robot and Multi-Agent Systems, Dec 2017, Los Angeles, United States |
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6D Physical Interaction with a Fully Actuated Aerial Robot2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore |
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Visual Marker based Multi-Sensor Fusion State EstimationIFAC World Congress, Jul 2017, Toulouse, France. 6p |
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Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore |
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Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment DirectionIFAC World Congress 2017, Jul 2017, Toulouse, France |
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Control of Statically Hoverable Multi-Rotor Aerial Vehicles and Application to Rotor-Failure Robustness for Hexarotors2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 6p |
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Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input AllocationIFAC World Congress 2017, Jul 2017, Toulouse, France. 6p., ⟨10.1016/j.ifacol.2017.08.2260⟩ |
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Adaptive Closed-loop Speed Control of BLDC Motors with Applications to Multi-rotor Aerial VehiclesIEEE International Conference on Robotics and Automation, May 2017, Singapour, Singapore |
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Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform20th IFAC World Congress, Jul 2017, Toulouse, France. 7p |
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Landing and Take-off on/from Sloped and Non-planar Surfaces with more than 50 Degrees of Inclination9th International Micro Air Vehicles Conference , Sep 2017, Toulouse, France. pp.97-102 |
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Dynamic Decentralized Control for Protocentric Aerial Manipulators2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 6p |
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Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea |
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Multi-robot localization via GPS and relative measurements in the presence of asynchronous and lossy communicationEuropean Control Conference (ECC 2016), Jun 2016, Aalborg, Denmark. pp.2527-2532, ⟨10.1109/ECC.2016.7810670⟩ |
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Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting HexarotorIEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ) 2016, Oct 2016, Daejeon, South Korea |
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Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea |
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From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial RobotsIEEE International Conference on Robotics & Automation (ICRA), May 2016, Stockholm, Sweden. pp.2965-2970 |
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A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVsIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Oct 2016, Daejeon, South Korea. pp.5099-5106 |
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Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-JointsIEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea |
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Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators2016 IEEE International Conference on Robotics & Automation (ICRA), May 2016, Stockholm, Sweden. pp. 441-446 |
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Cooperative Aerial Tele-Manipulation with Haptic FeedbackIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea |
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Bearing Rigidity Theory in SE(3)55th IEEE Conference on Decision and Control, Dec 2016, Las Vegas, United States |
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Design, Identification and Experimental Testing of a Light-weight Flexible-joint Arm for Aerial Physical Interaction2015 IEEE Int. Conf. on Robotics and Automation, May 2015, Seattle, United States |
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Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial RobotsEuropean Control Conference (ECC), Jul 2015, Linz, Austria |
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Nonlinear Observer for the Control of Bi-Tethered Multi Aerial RobotsInternational Conference on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany |
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Battery-aware Dynamical Modeling and Identification for the Total Thrust in Multi-rotor UAVs using only an Onboard Accelerometer2015 IEEE Int. Conf. on Robotics & Automation, May 2015, Seattle, United States |
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Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements2015 IEEE Int. Conf. on Robotics and Automation, May 2015, Seattle, United States |
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Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only MeasurementsIEEE International Conference on Robotics and Automation (ICRA 2015), May 2015, Seattle, United States |
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A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment2015 IEEE Int. Conf. on Robotics and Automation, May 2015, Seattle, United States |
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Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted PropellersIEEE ICRA 2015, May 2015, Seattle, Washington, USA, United States |
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Bearing-Only Formation Control Using an SE(2) Rigidity TheoryIEEE Conf. on Decision and Control, CDC 2015 , Dec 2015, Osaka, Japan |
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Image-based road network clearing without localization and without maps using a team of UAVs2014 European Control Conference, Jun 2014, Strasbourg, France. 7p., ⟨10.1109/ECC.2014.6862560⟩ |
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Multi-target visual tracking with aerial robots2014 IEEE Int. Conf, on Intelligent Robots and Systems, Sep 2014, Chicago, United States. ⟨10.1109/IROS.2014.6942986⟩ |
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A semi-autonomous UAV platform for indoor remote operation with visual and haptic feedback2014 IEEE Int. Conf. on Robotics and Automation, May 2014, Hong Kong, China. 8p., ⟨10.1109/ICRA.2014.6907419⟩ |
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Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing MeasurementsEuropean Control Conference, ECC'14, Jun 2014, Strasbourg, France |
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Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction2014 IEEE Int. Conf. on Robotics and Automation, May 2014, Hong Kong, China. 8p., ⟨10.1109/ICRA.2014.6907782⟩ |
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Turning a near-hovering controlled quadrotor into a 3D force effectorIEEE Int. Conf. on Robotics and Automation (ICRA 2014), May 2014, Hong Kong, China. pp.6278 - 6284, ⟨10.1109/ICRA.2014.6907785⟩ |
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Distributed estimation of the inertial parameters of an unknown load via multi-robot manipulation2014 53rd IEEE Conference on Decision and Control, Dec 2014, Los Angeles, United States. ⟨10.1109/CDC.2014.7040346⟩ |
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Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared ControlIEEE Int. Conf. on Robotics and Automation, ICRA'14, May 2014, Hong-Kong, Hong Kong SAR China |
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A nonlinear force observer for quadrotors and application to physical interactive tasks2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besancon, France. 8p., ⟨10.1109/AIM.2014.6878116⟩ |
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The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-ManipulationIEEE International Conference on Robotics and Automation (ICRA 2014), May 2014, Hong Kong, China. pp.4335-4341, ⟨10.1109/ICRA.2014.6907490⟩ |
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An Open-Source Hardware/Software Architecture for Quadrotor UAVs2nd Workshop on Research, Education and Development of Unmanned Aerial System, Nov 2013, Compiègne, France |
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Bilateral Control of the Degree of Connectivity in Multiple Mobile-Robot TeleoperationIEEE Int. Conf. on Robotics and Automation, ICRA 2013, May 2013, Karlsruhe, Germany. pp.3645-3652, ⟨10.1109/ICRA.2013.6631089⟩ |
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Multi-target Simultaneous Exploration with Continual ConnectivityInt Workshop on Crossing the Reality Gap: From Single to Multi-to Many Robot Systems, May 2013, Karlsruhe, Germany |
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The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor ControlEuropean Conference on Mobile Robots, ECMR 2013, Sep 2013, Barcelona, Catalonia, Spain |
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Experimental validation of a new adaptive control scheme for quadrotors MAVsIEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.2439-2444 |
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Theory and Applications for Control of Aerial Robots in Physical Interaction Through TethersSpringer. , 2020, Springer Tracts in Advanced Robotics, 978-3-030-48658-7 |
Platforms with Multi-directional Total ThrustAerial Robotic Manipulation, Springer, pp.53-65, 2019, 978-3-030-12945-3 |
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Interaction Control of Platforms with Multi-directional Total ThrustSpringer. Aerial Robotic Manipulation, Springer, pp.175-189, 2019, 978-3-030-12945-3 |
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Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots Mobile robotTrends 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⟩ |
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Guest editorial: special issue on multi-robot and multi-agent systemsAutonomous Robots, 2020, pp.297-298. ⟨10.1007/s10514-020-09908-x⟩ |
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PVTOL Aerial Manipulators with a Rigid or an Elastic Joint: Analysis, Control, and Comparison2016 |
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Dynamic Decentralized Control for Protocentric Aerial Manipulators2016 |
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Protocentric Aerial Manipulators: Flatness Proofs and Simulations2016 |
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Extended Experiments for Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot.2016 |
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Methods for the Control of Mobile Robots with applications to Multi-robot systems, Shared control and Aerial RoboticsAutomatic. Institut National Polytechnique de Toulouse, 2016 |