Antonio Franchi

Publications

Article dans une revue (50)

Agile and Cooperative Aerial Manipulation of a Cable-Suspended Load Sihao Sun,Xuerui Wang,Dario Sanalitro,Antonio Franchi,Marco Tognonet al. Science Robotics, 2025, 10 (107), pp.1-46. ⟨10.1126/scirobotics.adu8015⟩ Article dans une revue hal-05360829v1
Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty Ali Srour,Antonio Franchi,Paolo Robuffo Giordano,Marco Cognetti IEEE Robotics and Automation Letters, 2025, 10 (2), pp.1561-1568. ⟨10.1109/LRA.2024.3519857⟩ Article dans une revue hal-04816507v1
Safe and Robust Planning for Uncertain Robots: A Closed-Loop State Sensitivity Approach Amr Afifi,Tommaso Belvedere,Andrea Pupa,Paolo Robuffo Giordano,Antonio Franchi IEEE Robotics and Automation Letters, 2024, 9 (11), pp.9962-9969. ⟨10.1109/LRA.2024.3468088⟩ Article dans une revue hal-04701727v1
Coordinated Multi-Robot Trajectory Tracking Control over Sampled Communication ⋆ Enrica Rossi,Marco Tognon,Luca Ballotta,Ruggero Carli,Juan Cortéset al. Automatica, 2023, 151, pp.110941. ⟨10.1016/j.automatica.2023.110941⟩ Article dans une revue hal-04010855v1
Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty Chiara Gabellieri,Marco Tognon,Dario Sanalitro,Antonio Franchi IEEE Transactions on Robotics, 2023, 39 (5), pp.3977 - 3993. ⟨10.1109/TRO.2023.3279033⟩ Article dans une revue hal-04161342v1
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⟩ Article dans une revue hal-03482081v3
Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System A E Jiménez-Cano,Dario Sanalitro,M. Tognon,A. Franchi,J. Cortés Journal of Intelligent and Robotic Systems, 2022, 105 (3), pp.68. ⟨10.1007/s10846-022-01668-3⟩ Article dans une revue hal-03748086v1
FAST-Hex -A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation Markus Ryll,Davide Bicego,Mattia Giurato,Marco Lovera,Antonio Franchi IEEE/ASME Transactions on Mechatronics, 2022, 27 (3), pp.1244 - 1255. ⟨10.1109/TMECH.2021.3099197⟩ Article dans une revue hal-03271812v1
Past, Present and Future of Aerial Robotic Manipulators Anibal Ollero,Marco Tognon,Alejandro Suarez,Dongjun Lee,Antonio Franchi IEEE Transactions on Robotics, 2022, 38 (1), pp.626 - 645. ⟨10.1109/TRO.2021.3084395⟩ Article dans une revue hal-03255846v1
Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator Dario Sanalitro,Marco Tognon,A Jimenez Cano,Juan Cortés,Antonio Franchi IEEE Robotics and Automation Letters, 2022, 7 (3), pp.6726 - 6733. ⟨10.1109/LRA.2022.3176457⟩ Article dans une revue hal-03664826v1
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⟩ Article dans une revue hal-02970615v2
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⟩ Article dans une revue hal-03271965v1
Design of Multirotor Aerial Vehicles: A Taxonomy Based on Input Allocation Mahmoud Hamandi,Federico Usai,Quentin Sablé,Nicolas Staub,Marco Tognonet al. The International Journal of Robotics Research, 2021, 40 (8-9), pp.1015-1044. ⟨10.1177/02783649211025998⟩ Article dans une revue hal-02433405v2
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⟩ Article dans une revue hal-02970614v2
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⟩ Article dans une revue hal-03154736v3
Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators Gabriele Nava,Quentin Sablé,Marco Tognon,Daniele Pucci,Antonio Franchi IEEE Robotics and Automation Letters, 2020, 5 (2), pp.331-338. ⟨10.1109/LRA.2019.2958473⟩ Article dans une revue hal-02453407v1
A Study on Force-based Collaboration in Swarms Chiara Gabellieri,Marco Tognon,Dario Sanalitro,Lucia Pallottino,Antonio Franchi Swarm Intelligence, 2020, 14, pp.57-82. ⟨10.1007/s11721-019-00178-7⟩ Article dans une revue hal-02346606v1
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 Journal of Intelligent and Robotic Systems, 2020, 100 (3-4), pp.1213-1247. ⟨10.1007/s10846-020-01250-9⟩ Article dans une revue hal-03143092v1
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 IEEE Robotics and Automation Letters, 2020, 5 (2), pp.2185 - 2191. ⟨10.1109/LRA.2020.2969930⟩ Article dans une revue hal-02460422v1
Cooperative Aerial Load Transportation via Sampled Communication Enrica Rossi,Marco Tognon,Ruggero Carli,Luca Schenato,Juan Cortéset al. IEEE Control Systems Letters, 2020, 4 (2), pp.277-282. ⟨10.1109/LCSYS.2019.2924413⟩ Article dans une revue hal-02170909v1
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⟩ Article dans une revue hal-02537320v1
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⟩ Article dans une revue hal-02537332v1
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 Bicegoet al. IEEE Robotics and Automation Letters, 2019, 4 (2), pp.1846 - 1851. ⟨10.1109/LRA.2019.2895880⟩ Article dans une revue hal-01910343v2
6D interaction control with aerial robots: The flying end-effector paradigm Markus Ryll,Giuseppe Muscio,Francesco Pierri,Elisabetta Cataldi,Gianluca Antonelliet al. The International Journal of Robotics Research, 2019, 38 (9), pp.1045-1062. ⟨10.1177/0278364919856694⟩ Article dans une revue hal-02383394v1
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⟩ Article dans une revue hal-01964753v1
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⟩ Article dans une revue hal-02069490v1
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⟩ Article dans une revue hal-01964754v1
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⟩ Article dans une revue hal-01315463v1
Control-Aware Motion Planning for Task-Constrained Aerial Manipulation Marco Tognon,Elisabetta Cataldi,Hermes Amadeus A Tello Chavez,Gianluca Antonelli,Juan Cortéset al. IEEE Robotics and Automation Letters, 2018, 3 (3), pp.2478-2484. ⟨10.1109/LRA.2018.2803206⟩ Article dans une revue hal-01704127v1
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⟩ Article dans une revue hal-01612602v2
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 Article dans une revue hal-01940465v1
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⟩ Article dans une revue hal-01710770v1
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⟩ Article dans une revue hal-01551105v3
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⟩ Article dans une revue hal-01878912v1
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⟩ Article dans une revue hal-01704054v1
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⟩ Article dans une revue hal-01879384v1
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 Article dans une revue hal-01658577v2
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⟩ Article dans une revue hal-01704043v1
Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances Gianluca Antonelli,Elisabetta Cataldi,Filippo Arrichiello,Paolo Robuffo Giordano,Stefano Chiaveriniet al. IEEE Transactions on Control Systems Technology, 2018, 26 (1), pp.248-254. ⟨10.1109/TCST.2017.2650679⟩ Article dans une revue hal-01483653v1
The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance Anibal Ollero,Guillermo Heredia,Antonio Franchi,Gianluca Antonelli,Konstantin Kondaket al. IEEE Robotics and Automation Magazine, 2018, 25 (4), pp.12-23. ⟨10.1109/MRA.2018.2852789⟩ Article dans une revue hal-01870107v1
The Tele-MAGMaS: An Aerial-Ground Comanipulator System Nicolas Staub,Mostafa Mohammadi,Davide Bicego,Quentin Delamare,Hyunsoo Yanget al. IEEE Robotics and Automation Magazine, 2018, 25 (4), pp.66-75. ⟨10.1109/MRA.2018.2871344⟩ Article dans une revue hal-01935127v1
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 Article dans une revue hal-01483524v1
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⟩ Article dans une revue hal-01332937v1
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⟩ Article dans une revue hal-01285318v1
Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements Paolo Stegagno,Marco Cognetti,Giuseppe Oriolo,Heinrich H Bülthoff,Antonio Franchi IEEE Transactions on Robotics, 2016, 32 (5), pp.1133 - 1151. ⟨10.1109/TRO.2016.2593454⟩ Article dans une revue hal-01393702v1
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⟩ Article dans une revue hal-01228807v1
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⟩ Article dans une revue hal-01076423v1
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⟩ Article dans une revue hal-00910385v1
Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles Dongjun Lee,Antonio Franchi,Hyoung Il Son,Changsu Ha,Heinrich H Bülthoffet al. IEEE/ASME Transactions on Mechatronics, 2013, 18 (4), pp.1334-1345. ⟨10.1109/TMECH.2013.2263963⟩ Article dans une revue hal-00910801v1
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 Bülthoffet al. IEEE Transactions on Cybernetics, 2013, 43 (2), pp.597-609. ⟨10.1109/TSMCB.2012.2212884⟩ Article dans une revue hal-00910383v1

Communication dans un congrès (70)

Impact-Robust Posture Optimization for Aerial Manipulation Amr Afifi,Ahmad Gazar,Javier Alonso-Mora,Paolo Robuffo Giordano,Antonio Franchi ICRA 2026 - IEEE International Conference on Robotics and Automation, Jun 2026, Vienna, Austria Communication dans un congrès hal-05536633v1
Embedded Robust Model Predictive Path Integral Control using Sensitivity Tubes and GPU Acceleration Frederik Falk Nyboe,Amr Afifi,Paolo Robuffo Giordano,Emad Ebeid,Antonio Franchi ICRA 2025 - IEEE International Conference on Robotics & Automation, May 2025, Altlanta, United States. pp.7174-7180, ⟨10.1109/icra55743.2025.11127520⟩ Communication dans un congrès hal-05066734v1
Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty Ali Srour,Salvatore Marcellini,Tommaso Belvedere,Marco Cognetti,Antonio Franchiet al. ICUAS 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-04553932v1
Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned Amr Afifi,Gianluca Corsini,Quentin Sablé,Youssef Aboudorra,Daniel Sidobreet al. The 2023 International Conference on Unmanned Aircraft Systems (ICUAS 2023), Jun 2023, Warsaw, Poland. ⟨10.1109/ICUAS57906.2023.10156609⟩ Communication dans un congrès hal-04134284v1
Controller and Trajectory Optimization for a Quadrotor UAV with Parametric Uncertainty Ali Srour,Antonio Franchi,Paolo Robuffo Giordano IROS2023, Oct 2023, Detroit (Michigan), United States Communication dans un congrès hal-04192321v1
Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias Chiara Gabellieri,Marco Tognon,Dario Sanalitro,Antonio Franchi IEEE/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-04345267v1
Controller and Trajectory Optimization for a Quadrotor UAV with Parametric Uncertainty Ali Srour,Antonio Franchi,Paolo Robuffo Giordano IROS 2023 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2023, Detroit (MI), United States. pp.1-7 Communication dans un congrès hal-04216628v1
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⟩ Communication dans un congrès hal-03597619v2
Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case Gianluca Corsini,Martin Jacquet,Hemjyoti Das,Amr Afifi,Daniel Sidobreet al. The 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-03716664v2
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⟩ Communication dans un congrès hal-03402718v1
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 Sidobreet 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⟩ Communication dans un congrès hal-03327702v1
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⟩ Communication dans un congrès hal-02974320v1
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⟩ Communication dans un congrès hal-02498482v3
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 International Conference on Unmanned Aircraft Systems (ICUAS 2020), Sep 2020, Athènes, Greece. ⟨10.1109/ICUAS48674.2020.9214044⟩ Communication dans un congrès hal-02734894v1
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⟩ Communication dans un congrès hal-02494590v1
Development of SAM: cable-Suspended Aerial Manipulator Yuri S Sarkisov,Min Kim,Davide Bicego,Dzmitry Tsetserukou,Christian Ottet al. IEEE International Conference on Robotics and Automation (ICRA 2019), May 2019, Montreal, Canada Communication dans un congrès hal-02069383v1
Towards a Flying Assistant Paradigm: the OTHex Nicolas Staub,Davide Bicego,Quentin Sablé,Victor Arellano-Quintana,Subodh Mishraet al. IEEE 2018 International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia Communication dans un congrès hal-01716845v1
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 Communication dans un congrès hal-01846466v1
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⟩ Communication dans un congrès hal-01716843v1
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 Communication dans un congrès hal-01814840v1
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 Communication dans un congrès hal-01846467v1
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 Communication dans un congrès hal-01846465v1
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⟩ Communication dans un congrès hal-01891460v1
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 Communication dans un congrès hal-01814828v1
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⟩ Communication dans un congrès hal-01964779v1
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 Communication dans un congrès hal-01658557v1
6D Physical Interaction with a Fully Actuated Aerial Robot Markus Ryll,Giuseppe Muscio,Francesco Pierri,Elisabetta Cataldi,Gianluca Antonelliet al. 2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore Communication dans un congrès hal-01476814v1
Visual Marker based Multi-Sensor Fusion State Estimation Jose Luis Sanchez-Lopez,Victor Arellano-Quintana,Marco Tognon,Pascual Campoy,Antonio Franchi IFAC World Congress, Jul 2017, Toulouse, France. 6p Communication dans un congrès hal-01501980v1
Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems Nicolas Staub,Mostafa Mohammadi,Davide Bicego,Domenico Prattichizzo,Antonio Franchi 2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore Communication dans un congrès hal-01476813v1
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 Communication dans un congrès hal-01513229v1
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 Communication dans un congrès hal-01476816v1
Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation C Nainer,Michele Furci,Alexandre Seuret,Luca Zaccarian,Antonio Franchi IFAC World Congress 2017, Jul 2017, Toulouse, France. 6p., ⟨10.1016/j.ifacol.2017.08.2260⟩ Communication dans un congrès hal-01496283v2
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 Communication dans un congrès hal-01476812v1
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 Communication dans un congrès hal-01501919v1
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 Communication dans un congrès hal-01673466v1
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 Communication dans un congrès hal-01476817v1
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 Communication dans un congrès hal-01350883v1
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 European Control Conference (ECC 2016), Jun 2016, Aalborg, Denmark. pp.2527-2532, ⟨10.1109/ECC.2016.7810670⟩ Communication dans un congrès hal-01990581v1
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 Communication dans un congrès hal-01348538v1
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 Communication dans un congrès hal-01348545v1
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 Communication dans un congrès hal-01271988v1
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 Communication dans un congrès hal-01348543v1
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 Communication dans un congrès hal-01350867v1
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 Communication dans un congrès hal-01285043v1
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 Communication dans un congrès hal-01348539v2
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 Communication dans un congrès hal-01371084v1
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 2015 IEEE Int. Conf. on Robotics and Automation, May 2015, Seattle, United States Communication dans un congrès hal-01135205v2
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 Communication dans un congrès hal-01137736v1
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 Communication dans un congrès hal-01182759v1
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 Communication dans un congrès hal-01137960v1
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 Communication dans un congrès hal-01135206v2
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 Communication dans un congrès hal-01124450v1
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 Communication dans un congrès hal-01135204v1
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 Communication dans un congrès hal-01134829v1
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 Communication dans un congrès hal-01187978v1
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⟩ Communication dans un congrès hal-01137963v1
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⟩ Communication dans un congrès hal-01137820v1
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⟩ Communication dans un congrès hal-01137970v1
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 Communication dans un congrès hal-00994989v1
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⟩ Communication dans un congrès hal-01137967v1
Turning a near-hovering controlled quadrotor into a 3D force effector Guido Gioioso,Markus Ryll,Domenico Prattichizzo,Heinrich H. Bülthoff,Antonio Franchi IEEE 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-01083777v1
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⟩ Communication dans un congrès hal-01137826v1
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 Communication dans un congrès hal-00949184v1
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⟩ Communication dans un congrès hal-01137966v1
The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation Guido Gioioso,Antonio Franchi,Gionata Salvietti,Stefano Scheggi,Domenico Prattichizzo IEEE 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-01990572v1
An Open-Source Hardware/Software Architecture for Quadrotor UAVs Riccardo Spica,Paolo Robuffo Giordano,Markus Ryll,Heinrich H Bülthoff,Antonio Franchi 2nd Workshop on Research, Education and Development of Unmanned Aerial System, Nov 2013, Compiègne, France Communication dans un congrès hal-00906138v1
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⟩ Communication dans un congrès hal-00910833v1
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 Communication dans un congrès hal-00917941v1
The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control Voker Grabe,Martin Riedel,Heinrich H Bülthoff,Paolo Robuffo Giordano,Antonio Franchi European Conference on Mobile Robots, ECMR 2013, Sep 2013, Barcelona, Catalonia, Spain Communication dans un congrès hal-00908803v1
Experimental validation of a new adaptive control scheme for quadrotors MAVs Gianluca Antonelli,,Elisabetta Cataldi,,Paolo Robuffo Giordano,Stefano Chiaverini,Antonio Franchi IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.2439-2444 Communication dans un congrès hal-00851067v1

Ouvrages (1)

Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers Marco Tognon,Antonio Franchi Springer. , 2020, Springer Tracts in Advanced Robotics, 978-3-030-48658-7 Ouvrages hal-02898958v1

Chapitre d'ouvrage (3)

Platforms with Multi-directional Total Thrust Antonio Franchi Aerial Robotic Manipulation, Springer, pp.53-65, 2019, 978-3-030-12945-3 Chapitre d'ouvrage 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 Chapitre d'ouvrage hal-01998880v1
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⟩ Chapitre d'ouvrage hal-01562555v1

Autre publication scientifique (1)

Guest editorial: special issue on multi-robot and multi-agent systems Nora Ayanian,Paolo Robuffo Giordano,Robert Fitch,Antonio Franchi,Lorenzo Sabattini Autonomous Robots, 2020, pp.297-298. ⟨10.1007/s10514-020-09908-x⟩ Autre publication scientifique hal-02490945v1

Pré-publication, Document de travail (4)

PVTOL Aerial Manipulators with a Rigid or an Elastic Joint: Analysis, Control, and Comparison Burak Yüksel,Antonio Franchi 2016 Pré-publication, Document de travail hal-01388462v1
Dynamic Decentralized Control for Protocentric Aerial Manipulators Marco Tognon,Burak Yüksel,Gabriele Buondonno,Antonio Franchi 2016 Pré-publication, Document de travail hal-01388450v1
Protocentric Aerial Manipulators: Flatness Proofs and Simulations Burak Yüksel,Gabriele Buondonno,Antonio Franchi 2016 Pré-publication, Document de travail hal-01351153v1
Extended Experiments for Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot. Marco Tognon,Andrea Testa,Enrica Rossi,Antonio Franchi 2016 Pré-publication, Document de travail hal-01349743v2

Rapport (5)

Extended Derivations and Additional Simulations for Aerial Robots Tethered by Cables or Bars Marco Tognon,Antonio Franchi [0] Rapport LAAS n° 17032, LAAS-CNRS. 2017 Rapport hal-01473165v1
Explicit Computations, Simulations and additional Results for the Dynamic Decentralized Control for Protocentric Aerial Manipulators Marco Tognon,Burak Yüksel,Gabriele Buondonno,Antonio Franchi [Research Report] Rapport LAAS n° 17048, LAAS-CNRS; Max Planck Institute for Biological Cybernetics; Sapienza Universit`a di Roma. 2017 Rapport (rapport de recherche) hal-01474695v1
Explicit Computations and Further Extensive Simulations for Rigid-or Elastic-joint Arm: Technical Attachment to: &quot; Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment &quot; 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016 Burak Yüksel,Nicolas Staub,Antonio Franchi [Technical Report] Rapport LAAS n° 16198, LAAS-CNRS; MPI - Max Planck Institute for Biological Cybernetics. 2016 Rapport (rapport technique) hal-01345564v2
Extended Simulations for the Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform Marco Tognon,Antonio Franchi [Research Report] Rapport LAAS n° 16717, LAAS-CNRS. 2016 Rapport (rapport de recherche) hal-01261251v1
Extended Simulations for the Link Stress and Elevation Control of a Tethered Aerial Robot Marco Tognon,Antonio Franchi [Research Report] LAAS-CNRS. 2015 Rapport (rapport de recherche) hal-01118868v1

HDR (1)

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 HDR tel-02128212v1