Pubblicazioni di Franchi Antonio
2023
Rothammer M., Coelho A., Mishra H., Ott C., Franchi A., Albu-Schaeffer A.
A Rigid Body Observer (BObs) Considering Pfaffian Constraints with a Pose Regulation Framework. IEEE CONTROL SYSTEMS LETTERS 2023: 163-168
Rossi E., Tognon M., Ballotta L., Carli R., Cortes J., Franchi A., Schenato L.
Gabellieri Chiara, Tognon Marco, Sanalitro Dario, Franchi Antonio
Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty. IEEE TRANSACTIONS ON ROBOTICS 2023: 1-17
Hamandi M, Al-Ali I, Seneviratne L, Franchi A, Zweiri Y
Full-Pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles With Limited Actuation Abilities. IEEE ROBOTICS AND AUTOMATION LETTERS 2023: 4951-4958
2022
Rashad R., Bicego D., Zult J., Sanchez-Escalonilla S., Jiao R., Franchi A., Stramigioli S.
Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework. IEEE TRANSACTIONS ON ROBOTICS 2022: 3936-3955
Ryll M., Bicego D., Giurato M., Lovera M., Franchi A.
FAST-Hex - A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation. IEEE/ASME TRANSACTIONS ON MECHATRONICS 2022: 1244-1255
Sanalitro D., Tognon M., Cano A. E. J., Cortes J., Franchi A.
Indirect Force Control of a Cable-Suspended Aerial Multi-Robot Manipulator. IEEE ROBOTICS AND AUTOMATION LETTERS 2022: 6726-6733
Ollero A., Tognon M., Suarez A., Lee D., Franchi A.
Past, Present, and Future of Aerial Robotic Manipulators. IEEE TRANSACTIONS ON ROBOTICS 2022: 626-645
Jimenez-Cano A. E., Sanalitro D., Tognon M., Franchi A., Cortes J.
Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System: A Proof of Concept for Novel Robotics-Based Construction Techniques. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2022: -
2021
Baskaya E., Hamandi M., Bronz M., Franchi A.
A novel robust hexarotor capable of static hovering in presence of propeller failure. IEEE ROBOTICS AND AUTOMATION LETTERS 2021: 4001-4008
Mohammadi M., Bicego D., Franchi A., Barcelli D., Prattichizzo D.
Aerial tele-manipulation with passive tool via parallel position/force control. APPLIED SCIENCES 2021: -
Hamandi M., Usai F., Sable Q., Staub N., Tognon M., Franchi A.
Design of multirotor aerial vehicles: A taxonomy based on input allocation. THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 2021: 1015-1044
Jacquet M., Franchi A.
Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles. IEEE ROBOTICS AND AUTOMATION LETTERS 2021: 518-525
Horla D., Hamandi M., Giernacki W., Franchi A.
Optimal tuning of the lateral-dynamics parameters for aerial vehicles with bounded lateral force. IEEE ROBOTICS AND AUTOMATION LETTERS 2021: 3949-3955
Barros Carlos B., Franchi A., Oriolo G.
Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC. IEEE ROBOTICS AND AUTOMATION LETTERS 2021: 7611-7618
Coelho A., Sarkisov Y., Wu X., Mishra H., Singh H., Dietrich A., Franchi A., Kondak K., Ott C.
Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2021: -
2020
Gabellieri C., Tognon M., Sanalitro D., Pallottino L., Franchi A.
A study on force-based collaboration in swarms. SWARM INTELLIGENCE 2020: 57-82
Umili Elena, Tognon Marco, Sanalitro Dario, Oriolo Giuseppe, Franchi Antonio
Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs. Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), 2020 2020: 279-288
Nava G., Sable Q., Tognon M., Pucci D., Franchi A.
Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators. IEEE ROBOTICS AND AUTOMATION LETTERS 2020: 331-338
Sanalitro D., Savino H. J., Tognon M., Cortes J., Franchi A.
Full-Pose Manipulation Control of a Cable-Suspended Load with Multiple UAVs under Uncertainties. IEEE ROBOTICS AND AUTOMATION LETTERS 2020: 2185-2191
Michieletto G., Cenedese A., Zaccarian L., Franchi A.
Furci M., Nainer C., Zaccarian L., Franchi A.
Input Allocation for the Propeller-Based Overactuated Platform ROSPO. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2020: 2720-2727
Bicego D., Mazzetto J., Carli R., Farina M., Franchi A.
Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2020: 1213-1247
2017
Tognon Marco, Yuksel Burak, Buondonno Gabriele, Franchi Antonio
Dynamic decentralized control for protocentric aerial manipulators. 2017 IEEE International Conference on Robotics and Automation (ICRA) 2017: 6375-6380
2016
Franchi Antonio, Stegagno Paolo, Oriolo Giuseppe
Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance. AUTONOMOUS ROBOTS 2016: 245-265
Stegagno Paolo, Cognetti Marco, Oriolo Giuseppe, Bulthoff Heinrich H., Franchi Antonio
Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements. IEEE TRANSACTIONS ON ROBOTICS 2016: 1133-1151