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2020 – today
- 2024
[j65]Youssef Aboudorra
, Chiara Gabellieri, Ralph Brantjes, Quentin Sablé, Antonio Franchi:
Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV. J. Intell. Robotic Syst. 110(1): 21 (2024)- [j64]Ganghua Lai, Chuanbeibei Shi, Kaidi Wang, Yushu Yu, Yiqun Dong, Antonio Franchi:
Multi-Agent Visual-Inertial Localization for Integrated Aerial Systems With Loose Fusion of Odometry and Kinematics. IEEE Robotics Autom. Lett. 9(7): 6504-6511 (2024) - [j63]Amr Afifi, Tommaso Belvedere, Andrea Pupa, Paolo Robuffo Giordano, Antonio Franchi:
Safe and Robust Planning for Uncertain Robots: A Closed-Loop State Sensitivity Approach. IEEE Robotics Autom. Lett. 9(11): 9962-9969 (2024) - [j62]Enrico Ferrentino, Heitor Judiss Savino, Antonio Franchi, Pasquale Chiacchio:
A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints. IEEE Trans Autom. Sci. Eng. 21(4): 6744-6757 (2024) - [i30]Aníbal Ollero, Alejandro Suárez, Christos Papaioannidis, Ioannis Pitas, Juan M. Marredo, Viet Duong Hoang, Emad Ebeid, Vít Krátký, Martin Saska, Chloe Hanoune, Amr Afifi, Antonio Franchi, Charalampos Vourtsis, Dario Floreano, Goran Vasiljevic, Stjepan Bogdan, Alvaro Caballero, Fabio Ruggiero, Vincenzo Lippiello, Carlos Matilla, Giovanni Cioffi, Davide Scaramuzza, José Ramiro Martinez de Dios, Begoña C. Arrue, Carlos Martín, Krzysztof Zurad, Carlos Gaitan, Jacob Rodriguez, Antonio Munoz, Antidio Viguria:
AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures. CoRR abs/2401.02343 (2024) - [i29]Chiara Gabellieri, Antonio Franchi:
On the Existence of Static Equilibria of a Cable-Suspended Load with Non-stopping Flying Carriers. CoRR abs/2402.19315 (2024) - [i28]Mirko Mizzoni, Amr Afifi, Antonio Franchi:
Necessary and Sufficient Conditions to the Problem of Input-Output Extension of Internally Controlled Underactuated Nonlinear Systems. CoRR abs/2403.03117 (2024) - [i27]Yaolei Shen, Chiara Gabellieri, Antonio Franchi:
Aerial Robots Carrying Flexible Cables: Dynamic Shape Optimal Control via Spectral Method Model. CoRR abs/2403.17565 (2024) - [i26]Bishoy Gerges, Barbara Bazzana, Nicolò Botteghi, Youssef Aboudorra, Antonio Franchi:
Invisible Servoing: a Visual Servoing Approach with Return-Conditioned Latent Diffusion. CoRR abs/2409.13337 (2024) - [i25]Ahmed Ali, Chiara Gabellieri, Antonio Franchi:
A Control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation. CoRR abs/2410.12434 (2024) - [i24]Riccardo Zanella, Federico Califano, Antonio Franchi, Stefano Stramigioli:
Lossless optimal transient control for rigid bodies in 3D space. CoRR abs/2410.15984 (2024) - 2023
- [j61]Enrica Rossi, Marco Tognon, Luca Ballotta, Ruggero Carli, Juan Cortés, Antonio Franchi, Luca Schenato:
Coordinated multi-robot trajectory tracking control over sampled communication. Autom. 151: 110941 (2023) - [j60]Michael Rothammer, Andre Coelho, Hrishik Mishra, Christian Ott, Antonio Franchi, Alin Albu-Schäffer:
A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework. IEEE Control. Syst. Lett. 7: 163-168 (2023) - [j59]Mahmoud Hamandi, Ismail Al-Ali, Lakmal D. Seneviratne, Antonio Franchi, Yahya H. Zweiri:
Full-Pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles With Limited Actuation Abilities. IEEE Robotics Autom. Lett. 8(8): 4951-4958 (2023) - [j58]Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Antonio Franchi:
Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty. IEEE Trans. Robotics 39(5): 3977-3993 (2023) - [c80]Ali Srour, Antonio Franchi, Paolo Robuffo Giordano:
Controller and Trajectory Optimization for a Quadrotor UAV with Parametric Uncertainty. IROS 2023: 1-7 - [c79]Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Antonio Franchi:
Force-Based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias. IROS 2023: 6920-6926 - [i23]Sihao Sun, Antonio Franchi:
Nonlinear MPC for full-pose manipulation of a cable-suspended load using multiple UAVs. CoRR abs/2301.08545 (2023) - [i22]Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Antonio Franchi:
Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System subject to Parameter Uncertainty. CoRR abs/2302.07031 (2023) - [i21]Andre Coelho, Alin Albu-Schäffer, Arne Sachtler, Hrishik Mishra, Davide Bicego, Christian Ott, Antonio Franchi:
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems. CoRR abs/2303.01705 (2023) - [i20]Youssef Aboudorra, Chiara Gabellieri, Quentin Sablé, Antonio Franchi:
Modelling, Analysis and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV. CoRR abs/2305.16871 (2023) - [i19]Giuseppe Silano, Amr Afifi, Martin Saska, Antonio Franchi:
Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective. CoRR abs/2306.02454 (2023) - [i18]Giuseppe Silano, Amr Afifi, Martin Saska, Antonio Franchi:
A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration. CoRR abs/2306.09781 (2023) - 2022
- [j57]Antonio E. Jimenez-Cano, Dario Sanalitro, Marco Tognon, Antonio Franchi, Juan Cortés:
Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System. J. Intell. Robotic Syst. 105(3): 68 (2022) - [j56]Martin Jacquet, Max Kivits, Hemjyoti Das, Antonio Franchi:
Motor-Level N-MPC for Cooperative Active Perception With Multiple Heterogeneous UAVs. IEEE Robotics Autom. Lett. 7(2): 2063-2070 (2022) - [j55]Dario Sanalitro, Marco Tognon, Antonio E. Jimenez-Cano, Juan Cortés, Antonio Franchi:
Indirect Force Control of a Cable-Suspended Aerial Multi-Robot Manipulator. IEEE Robotics Autom. Lett. 7(3): 6726-6733 (2022) - [j54]Aníbal Ollero, Marco Tognon, Alejandro Suárez, Dongjun Lee, Antonio Franchi:
Past, Present, and Future of Aerial Robotic Manipulators. IEEE Trans. Robotics 38(1): 626-645 (2022) - [j53]Ramy Rashad, Davide Bicego, Jelle Zult, Santiago Sanchez-Escalonilla, Ran Jiao, Antonio Franchi, Stefano Stramigioli:
Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework. IEEE Trans. Robotics 38(6): 3936-3955 (2022) - [c78]Andre Coelho, Alin Albu-Schäffer, Arne Sachtler, Hrishik Mishra, Davide Bicego, Christian Ott, Antonio Franchi:
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems. CDC 2022: 2437-2442 - [c77]Amr Afifi, Mark van Holland, Antonio Franchi:
Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits. ICRA 2022: 4855-4861 - [c76]Martin Jacquet, Antonio Franchi:
Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles. IROS 2022: 1818-1824 - [c75]Gianluca Corsini, Martin Jacquet, Hemjyoti Das, Amr Afifi, Daniel Sidobre, Antonio Franchi:
Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case. IROS 2022: 7597-7604 - [i17]Enrico Ferrentino, Heitor Judiss Savino, Antonio Franchi, Pasquale Chiacchio:
A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints. CoRR abs/2207.05622 (2022) - 2021
- [b1]Marco Tognon, Antonio Franchi:
Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers. Springer Tracts in Advanced Robotics 140, Springer 2021, ISBN 978-3-030-48658-7, pp. 1-155 - [j52]Mahmoud Hamandi, Federico Usai, Quentin Sablé, Nicolas Staub, Marco Tognon, Antonio Franchi:
Design of multirotor aerial vehicles: A taxonomy based on input allocation. Int. J. Robotics Res. 40(8-9) (2021) - [j51]Konstantinos P. Liolis, Antonio Franchi, Barry G. Evans:
Editorial for Wiley's IJSCN Special Issue "Satellite networks integration with 5G". Int. J. Satell. Commun. Netw. 39(4): 319-321 (2021) - [j50]Andre Coelho, Yuri S. Sarkisov, Xuwei Wu, Hrishik Mishra, Harsimran Singh, Alexander Dietrich, Antonio Franchi, Konstantin Kondak, Christian Ott:
Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation. J. Intell. Robotic Syst. 102(1): 14 (2021) - [j49]Martin Jacquet, Antonio Franchi:
Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles. IEEE Robotics Autom. Lett. 6(2): 518-525 (2021) - [j48]Dariusz Horla, Mahmoud Hamandi, Wojciech Giernacki, Antonio Franchi:
Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles With Bounded Lateral Force. IEEE Robotics Autom. Lett. 6(2): 3949-3955 (2021) - [j47]Elgiz Baskaya, Mahmoud Hamandi, Murat Bronz, Antonio Franchi:
A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure. IEEE Robotics Autom. Lett. 6(2): 4001-4008 (2021) - [j46]Barbara Barros Carlos, Antonio Franchi, Giuseppe Oriolo:
Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC. IEEE Robotics Autom. Lett. 6(4): 7611-7618 (2021) - [i16]Enrica Rossi, Marco Tognon, Luca Ballotta, Ruggero Carli, Juan Cortés, Antonio Franchi, Luca Schenato:
Coordinated Multi-Robot Trajectory Tracking over Sampled Communication. CoRR abs/2112.00165 (2021) - [i15]Enrica Rossi, Marco Tognon, Ruggero Carli, Antonio Franchi, Luca Schenato:
Control of over-redundant cooperative manipulation via sampled communication. CoRR abs/2112.01107 (2021) - 2020
- [j45]Nora Ayanian, Paolo Robuffo Giordano, Robert Fitch, Antonio Franchi, Lorenzo Sabattini:
Guest editorial: special issue on multi-robot and multi-agent systems. Auton. Robots 44(3-4): 297-298 (2020) - [j44]Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi:
Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction. Autom. 117: 108991 (2020) - [j43]Enrica Rossi, Marco Tognon, Ruggero Carli, Luca Schenato, Juan Cortés, Antonio Franchi:
Cooperative Aerial Load Transportation via Sampled Communication. IEEE Control. Syst. Lett. 4(2): 277-282 (2020) - [j42]Davide Bicego, Jacopo Mazzetto, Ruggero Carli, Marcello Farina, Antonio Franchi:
Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs. J. Intell. Robotic Syst. 100(3): 1213-1247 (2020) - [j41]Gabriele Nava, Quentin Sablé, Marco Tognon, Daniele Pucci, Antonio Franchi:
Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators. IEEE Robotics Autom. Lett. 5(2): 331-338 (2020) - [j40]Dario Sanalitro, Heitor Judiss Savino, Marco Tognon, Juan Cortés, Antonio Franchi:
Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties. IEEE Robotics Autom. Lett. 5(2): 2185-2191 (2020) - [j39]Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Lucia Pallottino, Antonio Franchi:
A study on force-based collaboration in swarms. Swarm Intell. 14(1): 57-82 (2020) - [j38]Michele Furci, Carlo Nainer, Luca Zaccarian, Antonio Franchi:
Input Allocation for the Propeller-Based Overactuated Platform ROSPO. IEEE Trans. Control. Syst. Technol. 28(6): 2720-2727 (2020) - [c74]Martin Jacquet, Gianluca Corsini, Davide Bicego, Antonio Franchi:
Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVS. ICRA 2020: 4301-4306 - [c73]Mahmoud Hamandi, Marco Tognon, Antonio Franchi:
Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles. ICRA 2020: 5335-5341 - [i14]Markus Ryll, Davide Bicego, Mattia Giurato, Marco Lovera, Antonio Franchi:
FAST-Hex - A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation. CoRR abs/2004.06612 (2020)
2010 – 2019
- 2019
- [j37]Burak Yuksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi:
Aerial physical interaction via IDA-PBC. Int. J. Robotics Res. 38(4) (2019) - [j36]Markus Ryll, Giuseppe Muscio, Francesco Pierri, Elisabetta Cataldi, Gianluca Antonelli, Fabrizio Caccavale, Davide Bicego, Antonio Franchi:
6D interaction control with aerial robots: The flying end-effector paradigm. Int. J. Robotics Res. 38(9) (2019) - [j35]Marco Tognon, Hermes Amadeus Tello Chavez, Enrico Gasparin, Quentin Sablé, Davide Bicego, Anthony Mallet, Marc Lany, Gilles Santi, Bernard Revaz, Juan Cortés, Antonio Franchi:
A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants. IEEE Robotics Autom. Lett. 4(2): 1846-1851 (2019) - [j34]Viktor Walter, Nicolas Staub, Antonio Franchi, Martin Saska:
UVDAR System for Visual Relative Localization With Application to Leader-Follower Formations of Multirotor UAVs. IEEE Robotics Autom. Lett. 4(3): 2637-2644 (2019) - [j33]Antonio Franchi, Antonio Petitti, Alessandro Rizzo:
Distributed Estimation of State and Parameters in Multiagent Cooperative Load Manipulation. IEEE Trans. Control. Netw. Syst. 6(2): 690-701 (2019) - [j32]Antonio Franchi, Paolo Robuffo Giordano, Giulia Michieletto:
Online Leader Selection for Collective Tracking and Formation Control: The Second-Order Case. IEEE Trans. Control. Netw. Syst. 6(4): 1415-1425 (2019) - [c72]Giulia Michieletto, Angelo Cenedese, Antonio Franchi:
Force-Moment Decoupling and Rotor-Failure Robustness for Star-Shaped Generically-Tilted Multi-Rotors. CDC 2019: 2132-2137 - [c71]Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak:
Development of SAM: cable-Suspended Aerial Manipulator*. ICRA 2019: 5323-5329 - [p2]Antonio Franchi:
Platforms with Multi-directional Total Thrust. Aerial Robotic Manipulation 2019: 53-65 - [p1]Antonio Franchi:
Interaction Control of Platforms with Multi-directional Total Thrust. Aerial Robotic Manipulation 2019: 175-189 - [i13]Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi:
Hierarchical non-linear control for multi-rotor asymptotic stabilization based on zero-moment direction. CoRR abs/1902.02496 (2019) - [i12]Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak:
Development of SAM: cable-Suspended Aerial Manipulator. CoRR abs/1903.02426 (2019) - [i11]Davide Bicego, Jacopo Mazzetto, Ruggero Carli, Marcello Farina, Antonio Franchi:
Nonlinear Model Predictive Control with Actuator Constraints for Multi-Rotor Aerial Vehicles. CoRR abs/1911.08183 (2019) - 2018
- [j31]Victor Manuel Arellano-Quintana, Emmanuel Alejandro Merchán Cruz, Antonio Franchi:
A Novel Experimental Model and a Drag-Optimal Allocation Method for Variable-Pitch Propellers in Multirotors. IEEE Access 6: 68155-68168 (2018) - [j30]Carlo Masone, Mostafa Mohammadi, Paolo Robuffo Giordano, Antonio Franchi:
Shared planning and control for mobile robots with integral haptic feedback. Int. J. Robotics Res. 37(11) (2018) - [j29]Matthias Faessler, Antonio Franchi, Davide Scaramuzza:
Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories. IEEE Robotics Autom. Lett. 3(2): 620-626 (2018) - [j28]Quentin Delamare, Paolo Robuffo Giordano, Antonio Franchi:
Toward Aerial Physical Locomotion: The Contact-Fly-Contact Problem. IEEE Robotics Autom. Lett. 3(2): 1514-1521 (2018) - [j27]Marco Tognon, Antonio Franchi:
Omnidirectional Aerial Vehicles With Unidirectional Thrusters: Theory, Optimal Design, and Control. IEEE Robotics Autom. Lett. 3(3): 2277-2282 (2018) - [j26]Marco Tognon, Elisabetta Cataldi, Hermes Amadeus Tello Chavez, Gianluca Antonelli, Juan Cortés, Antonio Franchi:
Control-Aware Motion Planning for Task-Constrained Aerial Manipulation. IEEE Robotics Autom. Lett. 3(3): 2478-2484 (2018) - [j25]Marco Tognon, Chiara Gabellieri, Lucia Pallottino, Antonio Franchi:
Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity. IEEE Robotics Autom. Lett. 3(3): 2577-2583 (2018) - [j24]Aníbal Ollero, Guillermo Heredia, Antonio Franchi, Gianluca Antonelli, Konstantin Kondak, Alberto Sanfeliu, Antidio Viguria, J. Ramiro Martinez de Dios, Francesco Pierri, Juan Cortés, Angel Santamaria-Navarro, Miguel Angel Trujillo, Ribin Balachandran, Juan Andrade-Cetto, Angel Rodriguez:
The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance. IEEE Robotics Autom. Mag. 25(4): 12-23 (2018) - [j23]Nicolas Staub, Mostafa Mohammadi, Davide Bicego, Quentin Delamare, Hyunsoo Yang, Domenico Prattichizzo, Paolo Robuffo Giordano, Dongjun Lee, Antonio Franchi:
The Tele-MAGMaS: An Aerial-Ground Comanipulator System. IEEE Robotics Autom. Mag. 25(4): 66-75 (2018) - [j22]Antonio Franchi, Paolo Robuffo Giordano:
Online Leader Selection for Improved Collective Tracking and Formation Maintenance. IEEE Trans. Control. Netw. Syst. 5(1): 3-13 (2018) - [j21]Gianluca Antonelli, Elisabetta Cataldi, Filippo Arrichiello, Paolo Robuffo Giordano, Stefano Chiaverini, Antonio Franchi:
Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances. IEEE Trans. Control. Syst. Technol. 26(1): 248-254 (2018) - [j20]Antonio Franchi, Ruggero Carli, Davide Bicego, Markus Ryll:
Full-Pose Tracking Control for Aerial Robotic Systems With Laterally Bounded Input Force. IEEE Trans. Robotics 34(2): 534-541 (2018) - [j19]Giulia Michieletto, Markus Ryll, Antonio Franchi:
Fundamental Actuation Properties of Multirotors: Force-Moment Decoupling and Fail-Safe Robustness. IEEE Trans. Robotics 34(3): 702-715 (2018) - [c70]Chiara Gabellieri, Marco Tognon, Lucia Pallottino, Antonio Franchi:
A Study on Force-Based Collaboration in Flying Swarms. ANTS Conference 2018: 3-15 - [c69]Viktor Walter, Nicolas Staub, Martin Saska, Antonio Franchi:
Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform. CASE 2018: 298-303 - [c68]Paolo Robuffo Giordano, Quentin Delamare, Antonio Franchi:
Trajectory Generation for Minimum Closed-Loop State Sensitivity. ICRA 2018: 286-293 - [c67]Nicolas Staub, Davide Bicego, Quentin Sablé, Victor Arellano, Subodh Mishra, Antonio Franchi:
Towards a Flying Assistant Paradigm: the OTHex. ICRA 2018: 6997-7002 - [c66]Hyunsoo Yang, Nicolas Staub, Antonio Franchi, Dongjun Lee:
Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load Flexibility. IROS 2018: 1-8 - [c65]Fabio Morbidi, Davide Bicego, Markus Ryll, Antonio Franchi:
Energy-Efficient Trajectory Generation for a Hexarotor with Dual- Tilting Propellers. IROS 2018: 6226-6232 - [c64]Markus Ryll, Davide Bicego, Antonio Franchi:
A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base. SyRoCo 2018: 138-143 - [c63]Michele Furci, Davide Bicego, Antonio Franchi:
Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms. SyRoCo 2018: 459-464 - 2017
- [j18]Thomas Nestmeyer, Paolo Robuffo Giordano, Heinrich H. Bülthoff, Antonio Franchi:
Decentralized simultaneous multi-target exploration using a connected network of multiple robots. Auton. Robots 41(4): 989-1011 (2017) - [j17]Nora Ayanian, Robert Fitch, Antonio Franchi, Lorenzo Sabattini:
Multirobot Systems [TC Spotlight]. IEEE Robotics Autom. Mag. 24(2): 12-16 (2017) - [j16]Marco Tognon, Antonio Franchi:
Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars. IEEE Trans. Robotics 33(4): 834-845 (2017) - [c62]Nicolas Staub, Mostafa Mohammadi, Davide Bicego, Domenico Prattichizzo, Antonio Franchi:
Towards robotic MAGMaS: Multiple aerial-ground manipulator systems. ICRA 2017: 1307-1312 - [c61]Giulia Michieletto, Markus Ryll, Antonio Franchi:
Control of statically hoverable multi-rotor aerial vehicles and application to rotor-failure robustness for hexarotors. ICRA 2017: 2747-2752 - [c60]Markus Ryll, Giuseppe Muscio, Francesco Pierri, Elisabetta Cataldi, Gianluca Antonelli, Fabrizio Caccavale, Antonio Franchi:
6D physical interaction with a fully actuated aerial robot. ICRA 2017: 5190-5195 - [c59]Antonio Franchi, Anthony Mallet:
Adaptive closed-loop speed control of BLDC motors with applications to multi-rotor aerial vehicles. ICRA 2017: 5203-5208 - [c58]Marco Tognon, Burak Yuksel, Gabriele Buondonno, Antonio Franchi:
Dynamic decentralized control for protocentric aerial manipulators. ICRA 2017: 6375-6380 - [c57]Yoann Solana, Michele Furci, Juan Cortés, Antonio Franchi:
Multi-robot path planning with maintenance of generalized connectivity. MRS 2017: 63-70 - [i10]Matthias Faessler, Antonio Franchi, Davide Scaramuzza:
Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories. CoRR abs/1712.02402 (2017) - 2016
- [j15]Antonio Franchi, Paolo Stegagno, Giuseppe Oriolo:
Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance. Auton. Robots 40(2): 245-265 (2016) - [j14]Marco Tognon, Sanket S. Dash, Antonio Franchi:
Observer-Based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform. IEEE Robotics Autom. Lett. 1(2): 732-737 (2016) - [j13]Paolo Stegagno, Marco Cognetti, Giuseppe Oriolo, Heinrich H. Bülthoff, Antonio Franchi:
Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements. IEEE Trans. Robotics 32(5): 1133-1151 (2016) - [c56]Giulia Michieletto, Angelo Cenedese, Antonio Franchi:
Bearing rigidity theory in SE(3). CDC 2016: 5950-5955 - [c55]Marco Todescato, Andrea Carron, Ruggero Carli, Antonio Franchi, Luca Schenato:
Multi-robot localization via GPS and relative measurements in the presence of asynchronous and lossy communication. ECC 2016: 2527-2532 - [c54]Antonio Petitti, Antonio Franchi, Donato Di Paola, Alessandro Rizzo:
Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators. ICRA 2016: 441-446 - [c53]Sara Spedicato, Antonio Franchi, Giuseppe Notarstefano:
From tracking to robust maneuver regulation: An easy-to-design approach for VTOL aerial robots. ICRA 2016: 2965-2970 - [c52]Burak Yuksel, Gabriele Buondonno, Antonio Franchi:
Differential flatness and control of protocentric aerial manipulators with any number of arms and mixed rigid-/elastic-joints. IROS 2016: 561-566 - [c51]Burak Yuksel, Nicolas Staub, Antonio Franchi:
Aerial robots with rigid/elastic-joint arms: Single-joint controllability study and preliminary experiments. IROS 2016: 1667-1672 - [c50]Markus Ryll, Davide Bicego, Antonio Franchi:
Modeling and control of FAST-Hex: A fully-actuated by synchronized-tilting hexarotor. IROS 2016: 1689-1694 - [c49]Marco Tognon, Andrea Testa, Enrica Rossi, Antonio Franchi:
Takeoff and landing on slopes via inclined hovering with a tethered aerial robot. IROS 2016: 1702-1707 - [c48]Mostafa Mohammadi, Antonio Franchi, Davide Barcelli, Domenico Prattichizzo:
Cooperative aerial tele-manipulation with haptic feedback. IROS 2016: 5092-5098 - [c47]Fabrizio Schiano, Antonio Franchi, Daniel Zelazo, Paolo Robuffo Giordano:
A rigidity-based decentralized bearing formation controller for groups of quadrotor UAVs. IROS 2016: 5099-5106 - [i9]Antonio Franchi, Antonio Petitti, Alessandro Rizzo:
Distributed Estimation for Cooperative Mobile Manipulation. CoRR abs/1602.01891 (2016) - [i8]Marco Tognon, Antonio Franchi:
Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars. CoRR abs/1603.07567 (2016) - [i7]Antonio Franchi, Ruggero Carli, Davide Bicego, Markus Ryll:
Full-Pose Geometric Tracking Control on SE(3) for Laterally Bounded Fully-Actuated Aerial Vehicles. CoRR abs/1605.06645 (2016) - [i6]Sara Spedicato, Antonio Franchi, Giuseppe Notarstefano:
From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots. CoRR abs/1610.01496 (2016) - 2015
- [j12]Daniel Zelazo, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Decentralized rigidity maintenance control with range measurements for multi-robot systems. Int. J. Robotics Res. 34(1): 105-128 (2015) - [c46]Daniel Zelazo, Paolo Robuffo Giordano, Antonio Franchi:
Bearing-only formation control using an SE(2) rigidity theory. CDC 2015: 6121-6126 - [c45]Marco Tognon, Antonio Franchi:
Control of motion and internal stresses for a chain of two underactuated aerial robots. ECC 2015: 1620-1625 - [c44]Guido Gioioso, Mostafa Mohammadi, Antonio Franchi, Domenico Prattichizzo:
A force-based bilateral teleoperation framework for aerial robots in contact with the environment. ICRA 2015: 318-324 - [c43]Burak Yuksel, Saber Mahboubi, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi:
Design, identification and experimental testing of a light-weight flexible-joint arm for aerial physical interaction. ICRA 2015: 870-876 - [c42]Nicolas Staub, Antonio Franchi:
Battery-aware dynamical modeling and identification for the total thrust in multi-rotor UAVs using only an onboard accelerometer. ICRA 2015: 3341-3346 - [c41]Marco Tognon, Antonio Franchi:
Nonlinear observer-based tracking control of link stress and elevation for a tethered aerial robot using inertial-only measurements. ICRA 2015: 3994-3999 - [c40]Sujit Rajappa, Markus Ryll, Heinrich H. Bülthoff, Antonio Franchi:
Modeling, control and design optimization for a fully-actuated hexarotor aerial vehicle with tilted propellers. ICRA 2015: 4006-4013 - [c39]Antonio Franchi, Antonio Petitti, Alessandro Rizzo:
Decentralized parameter estimation and observation for cooperative mobile manipulation of an unknown load using noisy measurements. ICRA 2015: 5517-5522 - [c38]Marco Tognon, Antonio Franchi:
Nonlinear observer for the control of bi-tethered multi aerial robots. IROS 2015: 1852-1857 - [i5]Thomas Nestmeyer, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Decentralized Multi-target Exploration and Connectivity Maintenance with a Multi-robot System. CoRR abs/1505.05441 (2015) - 2014
- [c37]Burak Yuksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi:
A nonlinear force observer for quadrotors and application to physical interactive tasks. AIM 2014: 433-440 - [c36]Antonio Franchi, Antonio Petitti, Alessandro Rizzo:
Distributed estimation of the inertial parameters of an unknown load via multi-robot manipulation. CDC 2014: 6111-6116 - [c35]Matteo Gagliardi, Giuseppe Oriolo, Heinrich H. Bülthoff, Antonio Franchi:
Image-based road network clearing without localization and without maps using a team of UAVs. ECC 2014: 1902-1908 - [c34]Paolo Stegagno, Massimo Basile, Heinrich H. Bülthoff, Antonio Franchi:
A semi-autonomous UAV platform for indoor remote operation with visual and haptic feedback. ICRA 2014: 3862-3869 - [c33]Guido Gioioso, Antonio Franchi, Gionata Salvietti, Stefano Scheggi, Domenico Prattichizzo:
The flying hand: A formation of UAVs for cooperative aerial tele-manipulation. ICRA 2014: 4335-4341 - [c32]Burak Yuksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi:
Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction. ICRA 2014: 6258-6265 - [c31]Guido Gioioso, Markus Ryll, Domenico Prattichizzo, Heinrich H. Bülthoff, Antonio Franchi:
Turning a near-hovering controlled quadrotor into a 3D force effector. ICRA 2014: 6278-6284 - [c30]Carlo Masone, Paolo Robuffo Giordano, Heinrich H. Bülthoff, Antonio Franchi:
Semi-autonomous trajectory generation for mobile robots with integral haptic shared control. ICRA 2014: 6468-6475 - [c29]Pratap Tokekar, Volkan Isler, Antonio Franchi:
Multi-target visual tracking with aerial robots. IROS 2014: 3067-3072 - 2013
- [j11]Paolo Robuffo Giordano, Antonio Franchi, Cristian Secchi, Heinrich H. Bülthoff:
A passivity-based decentralized strategy for generalized connectivity maintenance. Int. J. Robotics Res. 32(3): 299-323 (2013) - [j10]Antonio Franchi, Giuseppe Oriolo, Paolo Stegagno:
Mutual localization in multi-robot systems using anonymous relative measurements. Int. J. Robotics Res. 32(11): 1302-1322 (2013) - [j9]Hyoung Il Son, Antonio Franchi, Lewis L. Chuang, Junsuk Kim, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots. IEEE Trans. Cybern. 43(2): 597-609 (2013) - [j8]Andrea Censi, Antonio Franchi, Luca Marchionni, Giuseppe Oriolo:
Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots. IEEE Trans. Robotics 29(2): 475-492 (2013) - [c28]Volker Grabe, Martin Riedel, Heinrich H. Bülthoff, Paolo Robuffo Giordano, Antonio Franchi:
The TeleKyb framework for a modular and extendible ROS-based quadrotor control. ECMR 2013: 19-25 - [c27]Cristian Secchi, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Bilateral control of the degree of connectivity in multiple mobile-robot teleoperation. ICRA 2013: 3645-3652 - [c26]Gianluca Antonelli, Elisabetta Cataldi, Paolo Robuffo Giordano, Stefano Chiaverini, Antonio Franchi:
Experimental validation of a new adaptive control scheme for quadrotors MAVs. IROS 2013: 2439-2444 - [c25]Sara Spedicato, Giuseppe Notarstefano, Heinrich H. Bülthoff, Antonio Franchi:
Aggressive Maneuver Regulation of a Quadrotor UAV. ISRR 2013: 95-112 - [i4]Antonio Franchi, Paolo Robuffo Giordano:
Online Leader Selection for Multi-Agent Collective Tracking and Formation Maintenance. CoRR abs/1305.5719 (2013) - [i3]Antonio Franchi, Paolo Stegagno, Giuseppe Oriolo:
Decentralized Multi-Robot Target Encirclement in 3D Space. CoRR abs/1307.7170 (2013) - [i2]Daniel Zelazo, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Decentralized Rigidity Maintenance Control with Range-only Measurements for Multi-Robot Systems. CoRR abs/1309.0535 (2013) - 2012
- [j7]Joseph W. Durham, Antonio Franchi, Francesco Bullo:
Distributed pursuit-evasion without mapping or global localization via local frontiers. Auton. Robots 32(1): 81-95 (2012) - [j6]Antonio Franchi, Carlo Masone, Volker Grabe, Markus Ryll, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering. Int. J. Robotics Res. 31(12): 1504-1525 (2012) - [j5]Antonio Franchi, Cristian Secchi, Markus Ryll, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Shared Control : Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs. IEEE Robotics Autom. Mag. 19(3): 57-68 (2012) - [j4]Fabio Pasqualetti, Antonio Franchi, Francesco Bullo:
On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms. IEEE Trans. Robotics 28(3): 592-606 (2012) - [j3]Antonio Franchi, Cristian Secchi, Hyoung Il Son, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Bilateral Teleoperation of Groups of Mobile Robots With Time-Varying Topology. IEEE Trans. Robotics 28(5): 1019-1033 (2012) - [c24]Antonio Franchi, Paolo Robuffo Giordano:
Decentralized control of parallel rigid formations with direction constraints and bearing measurements. CDC 2012: 5310-5317 - [c23]Martin Riedel, Antonio Franchi, Paolo Robuffo Giordano, Heinrich H. Bülthoff, Hyoung Il Son:
Experiments on Intercontinental Haptic Control of Multiple UAVs. IAS (2) 2012: 227-238 - [c22]Marco Cognetti, Paolo Stegagno, Antonio Franchi, Giuseppe Oriolo, Heinrich H. Bülthoff:
3-D mutual localization with anonymous bearing measurements. ICRA 2012: 791-798 - [c21]Cristian Secchi, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Bilateral teleoperation of a group of UAVs with communication delays and switching topology. ICRA 2012: 4307-4314 - [c20]Carlo Masone, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Interactive planning of persistent trajectories for human-assisted navigation of mobile robots. IROS 2012: 2641-2648 - [c19]Riccardo Spica, Antonio Franchi, Giuseppe Oriolo, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Aerial grasping of a moving target with a quadrotor UAV. IROS 2012: 4985-4992 - [c18]Daniel Zelazo, Antonio Franchi, Frank Allgöwer, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Rigidity Maintenance Control for Multi-Robot Systems. Robotics: Science and Systems 2012 - [c17]Johannes Lächele, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
SwarmSimX: Real-Time Simulation Environment for Multi-robot Systems. SIMPAR 2012: 375-387 - 2011
- [c16]Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Distributed online leader selection in the bilateral teleoperation of multiple UAVs. CDC/ECC 2011: 3559-3565 - [c15]Hyoung Il Son, Junsuk Kim, Lewis L. Chuang, Antonio Franchi, Paolo Robuffo Giordano, Dongjun Lee, Heinrich H. Bülthoff:
An evaluation of haptic cues on the tele-operator's perceptual awareness of multiple UAVs' environments. World Haptics 2011: 149-154 - [c14]Antonio Franchi, Paolo Robuffo Giordano, Cristian Secchi, Hyoung Il Son, Heinrich H. Bülthoff:
A passivity-based decentralized approach for the bilateral teleoperation of a group of UAVs with switching topology. ICRA 2011: 898-905 - [c13]Dongjun Lee, Antonio Franchi, Paolo Robuffo Giordano, Hyoung Il Son, Heinrich H. Bülthoff:
Haptic teleoperation of multiple unmanned aerial vehicles over the internet. ICRA 2011: 1341-1347 - [c12]Paolo Robuffo Giordano, Antonio Franchi, Cristian Secchi, Heinrich H. Bülthoff:
Experiments of passivity-based bilateral aerial teleoperation of a group of UAVs with decentralized velocity synchronization. IROS 2011: 163-170 - [c11]Paolo Stegagno, Marco Cognetti, Antonio Franchi, Giuseppe Oriolo:
Mutual localization using anonymous bearing measurements. IROS 2011: 469-474 - [c10]Antonio Franchi, Carlo Masone, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control. IROS 2011: 2215-2222 - [c9]Hyoung Il Son, Lewis L. Chuang, Antonio Franchi, Junsuk Kim, Dongjun Lee, Seong-Whan Lee, Heinrich H. Bülthoff, Paolo Robuffo Giordano:
Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots. IROS 2011: 3039-3046 - [c8]Paolo Robuffo Giordano, Antonio Franchi, Cristian Secchi, Heinrich H. Bülthoff:
Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance. Robotics: Science and Systems 2011 - [i1]Fabio Pasqualetti, Antonio Franchi, Francesco Bullo:
On cooperative patrolling: optimal trajectories, complexity analysis, and approximation algorithms. CoRR abs/1101.3973 (2011) - 2010
- [c7]Antonio Franchi, Giuseppe Oriolo, Paolo Stegagno:
Probabilistic mutual localization in multi-agent systems from anonymous position measures. CDC 2010: 6534-6540 - [c6]Fabio Pasqualetti, Antonio Franchi, Francesco Bullo:
On optimal cooperative patrolling. CDC 2010: 7153-7158 - [c5]Antonio Franchi, Giuseppe Oriolo, Paolo Stegagno:
On the solvability of the Mutual Localization problem with Anonymous Position Measures. ICRA 2010: 3193-3199 - [c4]Joseph W. Durham, Antonio Franchi, Francesco Bullo:
Distributed pursuit-evasion with limited-visibility sensors via frontier-based exploration. ICRA 2010: 3562-3568
2000 – 2009
- 2009
- [c3]Antonio Franchi, Giuseppe Oriolo, Paolo Stegagno:
Mutual localization in a multi-robot system with anonymous relative position measures. IROS 2009: 3974-3980 - 2007
- [c2]Antonio Franchi, Luigi Freda, Giuseppe Oriolo, Marilena Vendittelli:
A Randomized Strategy for Cooperative Robot Exploration. ICRA 2007: 768-774 - [c1]Antonio Franchi, Luigi Freda, Giuseppe Oriolo, Marilena Vendittelli:
A decentralized strategy for cooperative robot exploration. ROBOCOMM 2007: 7
1990 – 1999
- 1999
- [j2]Antonio Franchi, Eyal Trachtman, Louis Christodoulides, Jay Sengupta:
Multimedia via Inmarsat. IEEE Multim. 6(4): 15-19 (1999) - 1995
- [j1]Antonio Franchi, Robert A. Harris:
On the error burst properties of the "standard" K = 7, rate-1/2 convolutional code with soft-decision viterbi decoding. Eur. Trans. Telecommun. 6(3): 337-351 (1995)
Coauthor Index
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