
Antonio Franchi
132
Documents
Publications
Publications
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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⟩
Communication dans un congrès
hal-04553932
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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⟩
Communication dans un congrès
hal-04345267
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Controller and Trajectory Optimization for a Quadrotor UAV with Parametric UncertaintyIROS2023, Oct 2023, Detroit (Michigan), United States
Communication dans un congrès
hal-04192321
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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⟩
Communication dans un congrès
hal-04134284
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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
Communication dans un congrès
hal-04216628
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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⟩
Communication dans un congrès
hal-03597619
v2
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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⟩
Communication dans un congrès
hal-03716664
v2
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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⟩
Communication dans un congrès
hal-03402718
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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⟩
Communication dans un congrès
hal-03327702
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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⟩
Communication dans un congrès
hal-02974320
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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⟩
Communication dans un congrès
hal-02734894
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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⟩
Communication dans un congrès
hal-02498482
v3
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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⟩
Communication dans un congrès
hal-02494590
v1
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Development of SAM: cable-Suspended Aerial ManipulatorIEEE International Conference on Robotics and Automation (ICRA 2019), May 2019, Montreal, Canada
Communication dans un congrès
hal-02069383
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Towards a Flying Assistant Paradigm: the OTHexIEEE 2018 International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia
Communication dans un congrès
hal-01716845
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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
Communication dans un congrès
hal-01846466
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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
Communication dans un congrès
hal-01814840
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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
Communication dans un congrès
hal-01846467
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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⟩
Communication dans un congrès
hal-01716843
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A Study on Force-based Collaboration in Flying SwarmsInternational Conference on Swarm Intelligence (ANTS 2018), Oct 2018, Rome, Italy. 13p
Communication dans un congrès
hal-01846465
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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
Communication dans un congrès
hal-01814828
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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⟩
Communication dans un congrès
hal-01891460
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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⟩
Communication dans un congrès
hal-01964779
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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
Communication dans un congrès
hal-01658557
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6D Physical Interaction with a Fully Actuated Aerial Robot2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore
Communication dans un congrès
hal-01476814
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Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore
Communication dans un congrès
hal-01476813
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Visual Marker based Multi-Sensor Fusion State EstimationIFAC World Congress, Jul 2017, Toulouse, France. 6p
Communication dans un congrès
hal-01501980
v1
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Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment DirectionIFAC World Congress 2017, Jul 2017, Toulouse, France
Communication dans un congrès
hal-01513229
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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
Communication dans un congrès
hal-01476816
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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⟩
Communication dans un congrès
hal-01496283
v2
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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
Communication dans un congrès
hal-01476812
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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
Communication dans un congrès
hal-01501919
v1
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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
Communication dans un congrès
hal-01673466
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Dynamic Decentralized Control for Protocentric Aerial Manipulators2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 6p
Communication dans un congrès
hal-01476817
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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
Communication dans un congrès
hal-01271988
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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
Communication dans un congrès
hal-01348545
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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
Communication dans un congrès
hal-01348538
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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⟩
Communication dans un congrès
hal-01990581
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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
Communication dans un congrès
hal-01350883
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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
Communication dans un congrès
hal-01348543
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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
Communication dans un congrès
hal-01350867
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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
Communication dans un congrès
hal-01348539
v2
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Bearing Rigidity Theory in SE(3)55th IEEE Conference on Decision and Control, Dec 2016, Las Vegas, United States
Communication dans un congrès
hal-01371084
v1
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Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators 2016 IEEE International Conference on Robotics & Automation (ICRA), May 2016, Stockholm, Sweden. pp. 441-446
Communication dans un congrès
hal-01285043
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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
Communication dans un congrès
hal-01135205
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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
Communication dans un congrès
hal-01137736
v1
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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
Communication dans un congrès
hal-01182759
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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
Communication dans un congrès
hal-01137960
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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
Communication dans un congrès
hal-01135206
v2
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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
Communication dans un congrès
hal-01124450
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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
Communication dans un congrès
hal-01135204
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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
Communication dans un congrès
hal-01134829
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Bearing-Only Formation Control Using an SE(2) Rigidity Theory IEEE Conf. on Decision and Control, CDC 2015 , Dec 2015, Osaka, Japan
Communication dans un congrès
hal-01187978
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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⟩
Communication dans un congrès
hal-01137820
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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⟩
Communication dans un congrès
hal-01137963
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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⟩
Communication dans un congrès
hal-01137970
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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
Communication dans un congrès
hal-00994989
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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⟩
Communication dans un congrès
hal-01137826
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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⟩
Communication dans un congrès
hal-01083777
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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⟩
Communication dans un congrès
hal-01137967
v1
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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
Communication dans un congrès
hal-00949184
v1
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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⟩
Communication dans un congrès
hal-01990572
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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⟩
Communication dans un congrès
hal-01137966
v1
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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
Communication dans un congrès
hal-00917941
v1
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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
Communication dans un congrès
hal-00908803
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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⟩
Communication dans un congrès
hal-00910833
v1
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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
Communication dans un congrès
hal-00906138
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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
Communication dans un congrès
hal-00851067
v1
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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
Ouvrages
hal-02898958
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Platforms with Multi-directional Total ThrustAerial Robotic Manipulation, Springer, pp.53-65, 2019, 978-3-030-12945-3
Chapitre d'ouvrage
hal-01998886
v1
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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
Chapitre d'ouvrage
hal-01998880
v1
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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⟩
Chapitre d'ouvrage
hal-01562555
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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⟩
Autre publication scientifique
hal-02490945
v1
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Dynamic Decentralized Control for Protocentric Aerial Manipulators2016
Pré-publication, Document de travail
hal-01388450
v1
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PVTOL Aerial Manipulators with a Rigid or an Elastic Joint: Analysis, Control, and Comparison2016
Pré-publication, Document de travail
hal-01388462
v1
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Protocentric Aerial Manipulators: Flatness Proofs and Simulations2016
Pré-publication, Document de travail
hal-01351153
v1
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Extended Experiments for Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot.2016
Pré-publication, Document de travail
hal-01349743
v2
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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
HDR
tel-02128212
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