Antonio Franchi

210 papers A* 33A 23C 1Journal 124Unranked 26

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Aero-Promptness: Drag-Aware Aerodynamic Manipulability for Propeller-driven Vehicles. CoRR Antonio Franchi
2026	J	`jnl`	Autonomous Aerial Non-Destructive Testing: Ultrasound Inspection with a Commercial Quadrotor in an Unstructured Environment. CoRR Ruben Veenstra, Barbara Bazzana, Sander Smits, Antonio Franchi
2026	J	`jnl`	Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference. CoRR Giuseppe Silano, Daniel Bonilla Licea, Davide Liuzza, Antonio Franchi, Martin Saska
2026	J	`jnl`	Geometric Inverse Flight Dynamics on SO(3) and Application to Tethered Fixed-Wing Aircraft. CoRR Antonio Franchi, Chiara Gabellieri
2026	J	`jnl`	Impact-Robust Posture Optimization for Aerial Manipulation. CoRR Amr Afifi, Ahmad Gazar, Javier Alonso-Mora, Paolo Robuffo Giordano, Antonio Franchi
2026	J	`jnl`	Input Dexterity and Output Negotiation in Feedback-Linearizable Nonlinear Systems. CoRR Mirko Mizzoni, Pieter van Goor, Barbara Bazzana, Antonio Franchi
2026	J	`jnl`	Muscle Coactivation in the Sky: Geometry and Pareto Optimality of Energy vs. Promptness in Multirotors. CoRR Antonio Franchi
2026	J	`jnl`	Nonlinear Predictive Control of the Continuum and Hybrid Dynamics of a Suspended Deformable Cable for Aerial Pick and Place. CoRR Antonio Rapuano, Yaolei Shen, Federico Califano, Chiara Gabellieri, Antonio Franchi
2026	J	`jnl`	Stability Analysis of Geometric Control for a Canonical Class of Underactuated Aerial Vehicles with Spurious Forces. CoRR Simone Orelli, Mirko Mizzoni, Antonio Franchi
2026	J	`jnl`	The Geometry of Coordinated Trajectories for Non-stop Flying Carriers Holding a Cable-Suspended Load. CoRR Pieter van Goor, Chiara Gabellieri, Antonio Franchi
2025	J	`jnl`	A Generalization of Input-Output Linearization via Dynamic Switching Between Melds of Output Functions. CoRR Mirko Mizzoni, Pieter van Goor, Barbara Bazzana, Antonio Franchi
2025	J	`jnl`	A Geometric Task-Space Port-Hamiltonian Formulation for Redundant Manipulators. CoRR Federico Califano, Camilla Rota, Riccardo Zanella, Antonio Franchi
2025	J	`jnl`	Aerial Robots Carrying Flexible Cables: Dynamic Shape Optimal Control via Spectral Method Model. IEEE Trans. Robotics Yaolei Shen, Antonio Franchi, Chiara Gabellieri
2025	J	`jnl`	Agile and Cooperative Aerial Manipulation of a Cable-Suspended Load. CoRR Sihao Sun, Xuerui Wang, Dario Sanalitro, Antonio Franchi, Marco Tognon, Javier Alonso-Mora
2025	J	`jnl`	Agile and cooperative aerial manipulation of a cable-suspended load. Sci. Robotics Sihao Sun, Xuerui Wang, Dario Sanalitro, Antonio Franchi, Marco Tognon, Javier Alonso-Mora
2025	J	`jnl`	Coordinated Trajectories for Non-stop Flying Carriers Holding a Cable-Suspended Load. CoRR Chiara Gabellieri, Antonio Franchi
2025	A*	`conf`	Embedded Robust Model Predictive Path Integral Control Using Sensitivity Tubes and GPU Acceleration. ICRA Frederik Falk Nyboe, Amr Afifi, Paolo Robuffo Giordano, Emad Ebeid, Antonio Franchi
2025	J	`jnl`	Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty. IEEE Robotics Autom. Lett. Ali Srour, Antonio Franchi, Paolo Robuffo Giordano, Marco Cognetti
2025	J	`jnl`	Exploring a New Design Paradigm for Omnidirectional MAVs for Minimal Actuation and Internal Force Elimination: Theoretical Framework and Control. CoRR Ahmed Ali, Chiara Gabellieri, Antonio Franchi
2025	J	`jnl`	Input-Output Extension of Underactuated Nonlinear Systems. IEEE Control. Syst. Lett. Mirko Mizzoni, Amr Afifi, Antonio Franchi
2025	A	`conf`	Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs. IROS Chiara Gabellieri, Lars Teeuwen, Yaolei Shen, Antonio Franchi
2025	J	`jnl`	Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs. CoRR Chiara Gabellieri, Lars Teeuwen, Yaolei Shen, Antonio Franchi
2025	J	`jnl`	Multi-robot Aerial Soft Manipulator For Floating Litter Collection. CoRR Antonio González-Morgado, Sander Smits, Guillermo Heredia, Aníbal Ollero, Alexandre Krupa, François Chaumette, Fabien Spindler, Antonio Franchi, Chiara Gabellieri
2025	J	`jnl`	Predictive Admittance Control for Aerial Physical Interaction. IEEE Robotics Autom. Lett. Ayham Alharbat, Chiara Gabellieri, Abeje Y. Mersha, Antonio Franchi
2025	J	`jnl`	STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle. CoRR Giuseppe Silano, Amr Afifi, Martin Saska, Antonio Franchi
2025	J	`jnl`	Synchronous Observer Design for Landmark-Inertial SLAM with Almost-Global Convergence. CoRR Arkadeep Saha, Pieter van Goor, Antonio Franchi, Ravi Banavar
2025	J	`jnl`	The N-5 Scaling Law: Topological Dimensionality Reduction in the Optimal Design of Fully-actuated Multirotors. CoRR Antonio Franchi
2025	J	`jnl`	Trajectory control of a suspended load with non-stopping flying carriers. CoRR Sofia Girardello, Giulia Michieletto, Angelo Cenedese, Antonio Franchi, Chiara Gabellieri
2025	J	`jnl`	Unified Feedback Linearization for Nonlinear Systems with Dexterous and Energy-Saving Modes. CoRR Mirko Mizzoni, Pieter van Goor, Antonio Franchi
2025	J	`jnl`	Versatile Tasks on Integrated Aerial Platforms Using Only Onboard Sensors: Control, Estimation, and Validation. IEEE Trans. Robotics Kaidi Wang, Ganghua Lai, Yushu Yu, Jianrui Du, Jiali Sun, Bin Xu, Antonio Franchi, Fuchun Sun
2024	—	`conf`	A Control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation. CDC Ahmed Ali, Chiara Gabellieri, Antonio Franchi
2024	J	`jnl`	A Control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation. CoRR Ahmed Ali, Chiara Gabellieri, Antonio Franchi
2024	J	`jnl`	A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints. IEEE Trans Autom. Sci. Eng. Enrico Ferrentino, Heitor Judiss Savino, Antonio Franchi, Pasquale Chiacchio
2024	J	`jnl`	AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures. CoRR 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
2024	J	`jnl`	Aerial Robots Carrying Flexible Cables: Dynamic Shape Optimal Control via Spectral Method Model. CoRR Yaolei Shen, Chiara Gabellieri, Antonio Franchi
2024	J	`jnl`	Invisible Servoing: a Visual Servoing Approach with Return-Conditioned Latent Diffusion. CoRR Bishoy Gerges, Barbara Bazzana, Nicolò Botteghi, Youssef Aboudorra, Antonio Franchi
2024	J	`jnl`	Lossless optimal transient control for rigid bodies in 3D space. CoRR Riccardo Zanella, Federico Califano, Antonio Franchi, Stefano Stramigioli
2024	J	`jnl`	Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV. J. Intell. Robotic Syst. Youssef Aboudorra, Chiara Gabellieri, Ralph Brantjes, Quentin Sablé, Antonio Franchi
2024	J	`jnl`	Multi-Agent Visual-Inertial Localization for Integrated Aerial Systems With Loose Fusion of Odometry and Kinematics. IEEE Robotics Autom. Lett. Ganghua Lai, Chuanbeibei Shi, Kaidi Wang, Yushu Yu, Yiqun Dong, Antonio Franchi
2024	J	`jnl`	Necessary and Sufficient Conditions to the Problem of Input-Output Extension of Internally Controlled Underactuated Nonlinear Systems. CoRR Mirko Mizzoni, Amr Afifi, Antonio Franchi
2024	J	`jnl`	On the Existence of Static Equilibria of a Cable-Suspended Load with Non-stopping Flying Carriers. CoRR Chiara Gabellieri, Antonio Franchi
2024	J	`jnl`	Safe and Robust Planning for Uncertain Robots: A Closed-Loop State Sensitivity Approach. IEEE Robotics Autom. Lett. Amr Afifi, Tommaso Belvedere, Andrea Pupa, Paolo Robuffo Giordano, Antonio Franchi
2024	J	`jnl`	Unified Feedback Linearization for Nonlinear Systems With Dexterous and Energy-Saving Modes. IEEE Control. Syst. Lett. Mirko Mizzoni, Pieter van Goor, Antonio Franchi
2023	J	`jnl`	A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework. IEEE Control. Syst. Lett. Michael Rothammer, Andre Coelho, Hrishik Mishra, Christian Ott, Antonio Franchi, Alin Albu-Schäffer
2023	J	`jnl`	A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration. CoRR Giuseppe Silano, Amr Afifi, Martin Saska, Antonio Franchi
2023	A	`conf`	Controller and Trajectory Optimization for a Quadrotor UAV with Parametric Uncertainty. IROS Ali Srour, Antonio Franchi, Paolo Robuffo Giordano
2023	J	`jnl`	Coordinated multi-robot trajectory tracking control over sampled communication. Autom. Enrica Rossi, Marco Tognon, Luca Ballotta, Ruggero Carli, Juan Cortés, Antonio Franchi, Luca Schenato
2023	J	`jnl`	EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems. CoRR Andre Coelho, Alin Albu-Schäffer, Arne Sachtler, Hrishik Mishra, Davide Bicego, Christian Ott, Antonio Franchi
2023	J	`jnl`	Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty. IEEE Trans. Robotics Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Antonio Franchi
2023	J	`jnl`	Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System subject to Parameter Uncertainty. CoRR Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Antonio Franchi
2023	J	`jnl`	Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective. CoRR Giuseppe Silano, Amr Afifi, Martin Saska, Antonio Franchi
2023	A	`conf`	Force-Based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias. IROS Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Antonio Franchi
2023	J	`jnl`	Full-Pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles With Limited Actuation Abilities. IEEE Robotics Autom. Lett. Mahmoud Hamandi, Ismail Al-Ali, Lakmal D. Seneviratne, Antonio Franchi, Yahya H. Zweiri
2023	J	`jnl`	Modelling, Analysis and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV. CoRR Youssef Aboudorra, Chiara Gabellieri, Quentin Sablé, Antonio Franchi
2023	J	`jnl`	Nonlinear MPC for full-pose manipulation of a cable-suspended load using multiple UAVs. CoRR Sihao Sun, Antonio Franchi
2022	J	`jnl`	A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints. CoRR Enrico Ferrentino, Heitor Judiss Savino, Antonio Franchi, Pasquale Chiacchio
2022	—	`conf`	EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems. CDC Andre Coelho, Alin Albu-Schäffer, Arne Sachtler, Hrishik Mishra, Davide Bicego, Christian Ott, Antonio Franchi
2022	J	`jnl`	Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework. IEEE Trans. Robotics Ramy Rashad, Davide Bicego, Jelle Zult, Santiago Sanchez-Escalonilla, Ran Jiao, Antonio Franchi, Stefano Stramigioli
2022	A	`conf`	Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles. IROS Martin Jacquet, Antonio Franchi
2022	J	`jnl`	Indirect Force Control of a Cable-Suspended Aerial Multi-Robot Manipulator. IEEE Robotics Autom. Lett. Dario Sanalitro, Marco Tognon, Antonio E. Jimenez-Cano, Juan Cortés, Antonio Franchi
2022	J	`jnl`	Motor-Level N-MPC for Cooperative Active Perception With Multiple Heterogeneous UAVs. IEEE Robotics Autom. Lett. Martin Jacquet, Max Kivits, Hemjyoti Das, Antonio Franchi
2022	A	`conf`	Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case. IROS Gianluca Corsini, Martin Jacquet, Hemjyoti Das, Amr Afifi, Daniel Sidobre, Antonio Franchi
2022	J	`jnl`	Past, Present, and Future of Aerial Robotic Manipulators. IEEE Trans. Robotics Aníbal Ollero, Marco Tognon, Alejandro Suárez, Dongjun Lee, Antonio Franchi
2022	J	`jnl`	Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System. J. Intell. Robotic Syst. Antonio E. Jimenez-Cano, Dario Sanalitro, Marco Tognon, Antonio Franchi, Juan Cortés
2022	A*	`conf`	Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits. ICRA Amr Afifi, Mark van Holland, Antonio Franchi
2021	J	`jnl`	A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure. IEEE Robotics Autom. Lett. Elgiz Baskaya, Mahmoud Hamandi, Murat Bronz, Antonio Franchi
2021	J	`jnl`	Control of over-redundant cooperative manipulation via sampled communication. CoRR Enrica Rossi, Marco Tognon, Ruggero Carli, Antonio Franchi, Luca Schenato
2021	J	`jnl`	Coordinated Multi-Robot Trajectory Tracking over Sampled Communication. CoRR Enrica Rossi, Marco Tognon, Luca Ballotta, Ruggero Carli, Juan Cortés, Antonio Franchi, Luca Schenato
2021	J	`jnl`	Design of multirotor aerial vehicles: A taxonomy based on input allocation. Int. J. Robotics Res. Mahmoud Hamandi, Federico Usai, Quentin Sablé, Nicolas Staub, Marco Tognon, Antonio Franchi
2021	J	`jnl`	Editorial for Wiley's IJSCN Special Issue "Satellite networks integration with 5G". Int. J. Satell. Commun. Netw. Konstantinos P. Liolis, Antonio Franchi, Barry G. Evans
2021	J	`jnl`	Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles. IEEE Robotics Autom. Lett. Martin Jacquet, Antonio Franchi
2021	J	`jnl`	Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles With Bounded Lateral Force. IEEE Robotics Autom. Lett. Dariusz Horla, Mahmoud Hamandi, Wojciech Giernacki, Antonio Franchi
2021	—	`book`	Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers Marco Tognon, Antonio Franchi
2021	J	`jnl`	Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC. IEEE Robotics Autom. Lett. Barbara Barros Carlos, Antonio Franchi, Giuseppe Oriolo
2021	J	`jnl`	Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation. J. Intell. Robotic Syst. Andre Coelho, Yuri S. Sarkisov, Xuwei Wu, Hrishik Mishra, Harsimran Singh, Alexander Dietrich, Antonio Franchi, Konstantin Kondak, Christian Ott
2020	J	`jnl`	A study on force-based collaboration in swarms. Swarm Intell. Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Lucia Pallottino, Antonio Franchi
2020	J	`jnl`	Cooperative Aerial Load Transportation via Sampled Communication. IEEE Control. Syst. Lett. Enrica Rossi, Marco Tognon, Ruggero Carli, Luca Schenato, Juan Cortés, Antonio Franchi
2020	A*	`conf`	Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles. ICRA Mahmoud Hamandi, Marco Tognon, Antonio Franchi
2020	J	`jnl`	Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators. IEEE Robotics Autom. Lett. Gabriele Nava, Quentin Sablé, Marco Tognon, Daniele Pucci, Antonio Franchi
2020	J	`jnl`	FAST-Hex - A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation. CoRR Markus Ryll, Davide Bicego, Mattia Giurato, Marco Lovera, Antonio Franchi
2020	J	`jnl`	Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties. IEEE Robotics Autom. Lett. Dario Sanalitro, Heitor Judiss Savino, Marco Tognon, Juan Cortés, Antonio Franchi
2020	J	`jnl`	Guest editorial: special issue on multi-robot and multi-agent systems. Auton. Robots Nora Ayanian, Paolo Robuffo Giordano, Robert Fitch, Antonio Franchi, Lorenzo Sabattini
2020	J	`jnl`	Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction. Autom. Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi
2020	J	`jnl`	Input Allocation for the Propeller-Based Overactuated Platform ROSPO. IEEE Trans. Control. Syst. Technol. Michele Furci, Carlo Nainer, Luca Zaccarian, Antonio Franchi
2020	J	`jnl`	Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs. J. Intell. Robotic Syst. Davide Bicego, Jacopo Mazzetto, Ruggero Carli, Marcello Farina, Antonio Franchi
2020	A*	`conf`	Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVS. ICRA Martin Jacquet, Gianluca Corsini, Davide Bicego, Antonio Franchi
2019	J	`jnl`	6D interaction control with aerial robots: The flying end-effector paradigm. Int. J. Robotics Res. Markus Ryll, Giuseppe Muscio, Francesco Pierri, Elisabetta Cataldi, Gianluca Antonelli, Fabrizio Caccavale, Davide Bicego, Antonio Franchi
2019	J	`jnl`	A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants. IEEE Robotics Autom. Lett. Marco Tognon, Hermes Amadeus Tello Chavez, Enrico Gasparin, Quentin Sablé, Davide Bicego, Anthony Mallet, Marc Lany, Gilles Santi, Bernard Revaz, Juan Cortés, Antonio Franchi
2019	J	`jnl`	Aerial physical interaction via IDA-PBC. Int. J. Robotics Res. Burak Yuksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi
2019	A*	`conf`	Development of SAM: cable-Suspended Aerial Manipulator ICRA Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak
2019	J	`jnl`	Development of SAM: cable-Suspended Aerial Manipulator. CoRR Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak
2019	J	`jnl`	Distributed Estimation of State and Parameters in Multiagent Cooperative Load Manipulation. IEEE Trans. Control. Netw. Syst. Antonio Franchi, Antonio Petitti, Alessandro Rizzo
2019	—	`conf`	Force-Moment Decoupling and Rotor-Failure Robustness for Star-Shaped Generically-Tilted Multi-Rotors. CDC Giulia Michieletto, Angelo Cenedese, Antonio Franchi
2019	J	`jnl`	Hierarchical non-linear control for multi-rotor asymptotic stabilization based on zero-moment direction. CoRR Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi
2019	—	`ch.`	Interaction Control of Platforms with Multi-directional Total Thrust. Aerial Robotic Manipulation Antonio Franchi
2019	J	`jnl`	Nonlinear Model Predictive Control with Actuator Constraints for Multi-Rotor Aerial Vehicles. CoRR Davide Bicego, Jacopo Mazzetto, Ruggero Carli, Marcello Farina, Antonio Franchi
2019	J	`jnl`	Online Leader Selection for Collective Tracking and Formation Control: The Second-Order Case. IEEE Trans. Control. Netw. Syst. Antonio Franchi, Paolo Robuffo Giordano, Giulia Michieletto
2019	—	`ch.`	Platforms with Multi-directional Total Thrust. Aerial Robotic Manipulation Antonio Franchi
2019	J	`jnl`	UVDAR System for Visual Relative Localization With Application to Leader-Follower Formations of Multirotor UAVs. IEEE Robotics Autom. Lett. Viktor Walter, Nicolas Staub, Antonio Franchi, Martin Saska
2018	J	`jnl`	A Novel Experimental Model and a Drag-Optimal Allocation Method for Variable-Pitch Propellers in Multirotors. IEEE Access Victor Manuel Arellano-Quintana, Emmanuel Alejandro Merchán Cruz, Antonio Franchi
2018	—	`conf`	A Study on Force-Based Collaboration in Flying Swarms. ANTS Conference Chiara Gabellieri, Marco Tognon, Lucia Pallottino, Antonio Franchi
2018	—	`conf`	A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base. SyRoCo Markus Ryll, Davide Bicego, Antonio Franchi
2018	J	`jnl`	Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances. IEEE Trans. Control. Syst. Technol. Gianluca Antonelli, Elisabetta Cataldi, Filippo Arrichiello, Paolo Robuffo Giordano, Stefano Chiaverini, Antonio Franchi
2018	J	`jnl`	Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity. IEEE Robotics Autom. Lett. Marco Tognon, Chiara Gabellieri, Lucia Pallottino, Antonio Franchi
2018	J	`jnl`	Control-Aware Motion Planning for Task-Constrained Aerial Manipulation. IEEE Robotics Autom. Lett. Marco Tognon, Elisabetta Cataldi, Hermes Amadeus Tello Chavez, Gianluca Antonelli, Juan Cortés, Antonio Franchi
2018	—	`conf`	Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms. SyRoCo Michele Furci, Davide Bicego, Antonio Franchi
2018	J	`jnl`	Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories. IEEE Robotics Autom. Lett. Matthias Faessler, Antonio Franchi, Davide Scaramuzza
2018	A	`conf`	Energy-Efficient Trajectory Generation for a Hexarotor with Dual- Tilting Propellers. IROS Fabio Morbidi, Davide Bicego, Markus Ryll, Antonio Franchi
2018	J	`jnl`	Full-Pose Tracking Control for Aerial Robotic Systems With Laterally Bounded Input Force. IEEE Trans. Robotics Antonio Franchi, Ruggero Carli, Davide Bicego, Markus Ryll
2018	J	`jnl`	Fundamental Actuation Properties of Multirotors: Force-Moment Decoupling and Fail-Safe Robustness. IEEE Trans. Robotics Giulia Michieletto, Markus Ryll, Antonio Franchi
2018	A	`conf`	Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load Flexibility. IROS Hyunsoo Yang, Nicolas Staub, Antonio Franchi, Dongjun Lee
2018	—	`conf`	Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform. CASE Viktor Walter, Nicolas Staub, Martin Saska, Antonio Franchi
2018	J	`jnl`	Omnidirectional Aerial Vehicles With Unidirectional Thrusters: Theory, Optimal Design, and Control. IEEE Robotics Autom. Lett. Marco Tognon, Antonio Franchi
2018	J	`jnl`	Online Leader Selection for Improved Collective Tracking and Formation Maintenance. IEEE Trans. Control. Netw. Syst. Antonio Franchi, Paolo Robuffo Giordano
2018	J	`jnl`	Shared planning and control for mobile robots with integral haptic feedback. Int. J. Robotics Res. Carlo Masone, Mostafa Mohammadi, Paolo Robuffo Giordano, Antonio Franchi
2018	J	`jnl`	The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance. IEEE Robotics Autom. Mag. 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
2018	J	`jnl`	The Tele-MAGMaS: An Aerial-Ground Comanipulator System. IEEE Robotics Autom. Mag. Nicolas Staub, Mostafa Mohammadi, Davide Bicego, Quentin Delamare, Hyunsoo Yang, Domenico Prattichizzo, Paolo Robuffo Giordano, Dongjun Lee, Antonio Franchi
2018	J	`jnl`	Toward Aerial Physical Locomotion: The Contact-Fly-Contact Problem. IEEE Robotics Autom. Lett. Quentin Delamare, Paolo Robuffo Giordano, Antonio Franchi
2018	A*	`conf`	Towards a Flying Assistant Paradigm: the OTHex. ICRA Nicolas Staub, Davide Bicego, Quentin Sablé, Victor Arellano, Subodh Mishra, Antonio Franchi
2018	A*	`conf`	Trajectory Generation for Minimum Closed-Loop State Sensitivity. ICRA Paolo Robuffo Giordano, Quentin Delamare, Antonio Franchi
2017	A*	`conf`	6D physical interaction with a fully actuated aerial robot. ICRA Markus Ryll, Giuseppe Muscio, Francesco Pierri, Elisabetta Cataldi, Gianluca Antonelli, Fabrizio Caccavale, Antonio Franchi
2017	A*	`conf`	Adaptive closed-loop speed control of BLDC motors with applications to multi-rotor aerial vehicles. ICRA Antonio Franchi, Anthony Mallet
2017	A*	`conf`	Control of statically hoverable multi-rotor aerial vehicles and application to rotor-failure robustness for hexarotors. ICRA Giulia Michieletto, Markus Ryll, Antonio Franchi
2017	J	`jnl`	Decentralized simultaneous multi-target exploration using a connected network of multiple robots. Auton. Robots Thomas Nestmeyer, Paolo Robuffo Giordano, Heinrich H. Bülthoff, Antonio Franchi
2017	J	`jnl`	Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories. CoRR Matthias Faessler, Antonio Franchi, Davide Scaramuzza
2017	A*	`conf`	Dynamic decentralized control for protocentric aerial manipulators. ICRA Marco Tognon, Burak Yuksel, Gabriele Buondonno, Antonio Franchi
2017	J	`jnl`	Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars. IEEE Trans. Robotics Marco Tognon, Antonio Franchi
2017	—	`conf`	Multi-robot path planning with maintenance of generalized connectivity. MRS Yoann Solana, Michele Furci, Juan Cortés, Antonio Franchi
2017	J	`jnl`	Multirobot Systems [TC Spotlight]. IEEE Robotics Autom. Mag. Nora Ayanian, Robert Fitch, Antonio Franchi, Lorenzo Sabattini
2017	A*	`conf`	Towards robotic MAGMaS: Multiple aerial-ground manipulator systems. ICRA Nicolas Staub, Mostafa Mohammadi, Davide Bicego, Domenico Prattichizzo, Antonio Franchi
2016	A	`conf`	A rigidity-based decentralized bearing formation controller for groups of quadrotor UAVs. IROS Fabrizio Schiano, Antonio Franchi, Daniel Zelazo, Paolo Robuffo Giordano
2016	A	`conf`	Aerial robots with rigid/elastic-joint arms: Single-joint controllability study and preliminary experiments. IROS Burak Yuksel, Nicolas Staub, Antonio Franchi
2016	—	`conf`	Bearing rigidity theory in SE(3). CDC Giulia Michieletto, Angelo Cenedese, Antonio Franchi
2016	A	`conf`	Cooperative aerial tele-manipulation with haptic feedback. IROS Mostafa Mohammadi, Antonio Franchi, Davide Barcelli, Domenico Prattichizzo
2016	A*	`conf`	Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators. ICRA Antonio Petitti, Antonio Franchi, Donato Di Paola, Alessandro Rizzo
2016	J	`jnl`	Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance. Auton. Robots Antonio Franchi, Paolo Stegagno, Giuseppe Oriolo
2016	A	`conf`	Differential flatness and control of protocentric aerial manipulators with any number of arms and mixed rigid-/elastic-joints. IROS Burak Yuksel, Gabriele Buondonno, Antonio Franchi
2016	J	`jnl`	Distributed Estimation for Cooperative Mobile Manipulation. CoRR Antonio Franchi, Antonio Petitti, Alessandro Rizzo
2016	J	`jnl`	Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars. CoRR Marco Tognon, Antonio Franchi
2016	J	`jnl`	From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots. CoRR Sara Spedicato, Antonio Franchi, Giuseppe Notarstefano
2016	A*	`conf`	From tracking to robust maneuver regulation: An easy-to-design approach for VTOL aerial robots. ICRA Sara Spedicato, Antonio Franchi, Giuseppe Notarstefano
2016	J	`jnl`	Full-Pose Geometric Tracking Control on SE(3) for Laterally Bounded Fully-Actuated Aerial Vehicles. CoRR Antonio Franchi, Ruggero Carli, Davide Bicego, Markus Ryll
2016	J	`jnl`	Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements. IEEE Trans. Robotics Paolo Stegagno, Marco Cognetti, Giuseppe Oriolo, Heinrich H. Bülthoff, Antonio Franchi
2016	A	`conf`	Modeling and control of FAST-Hex: A fully-actuated by synchronized-tilting hexarotor. IROS Markus Ryll, Davide Bicego, Antonio Franchi
2016	—	`conf`	Multi-robot localization via GPS and relative measurements in the presence of asynchronous and lossy communication. ECC Marco Todescato, Andrea Carron, Ruggero Carli, Antonio Franchi, Luca Schenato
2016	J	`jnl`	Observer-Based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform. IEEE Robotics Autom. Lett. Marco Tognon, Sanket S. Dash, Antonio Franchi
2016	A	`conf`	Takeoff and landing on slopes via inclined hovering with a tethered aerial robot. IROS Marco Tognon, Andrea Testa, Enrica Rossi, Antonio Franchi
2015	A*	`conf`	A force-based bilateral teleoperation framework for aerial robots in contact with the environment. ICRA Guido Gioioso, Mostafa Mohammadi, Antonio Franchi, Domenico Prattichizzo
2015	A*	`conf`	Battery-aware dynamical modeling and identification for the total thrust in multi-rotor UAVs using only an onboard accelerometer. ICRA Nicolas Staub, Antonio Franchi
2015	—	`conf`	Bearing-only formation control using an SE(2) rigidity theory. CDC Daniel Zelazo, Paolo Robuffo Giordano, Antonio Franchi
2015	—	`conf`	Control of motion and internal stresses for a chain of two underactuated aerial robots. ECC Marco Tognon, Antonio Franchi
2015	J	`jnl`	Decentralized Multi-target Exploration and Connectivity Maintenance with a Multi-robot System. CoRR Thomas Nestmeyer, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2015	A*	`conf`	Decentralized parameter estimation and observation for cooperative mobile manipulation of an unknown load using noisy measurements. ICRA Antonio Franchi, Antonio Petitti, Alessandro Rizzo
2015	J	`jnl`	Decentralized rigidity maintenance control with range measurements for multi-robot systems. Int. J. Robotics Res. Daniel Zelazo, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2015	A*	`conf`	Design, identification and experimental testing of a light-weight flexible-joint arm for aerial physical interaction. ICRA Burak Yuksel, Saber Mahboubi, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi
2015	A*	`conf`	Modeling, control and design optimization for a fully-actuated hexarotor aerial vehicle with tilted propellers. ICRA Sujit Rajappa, Markus Ryll, Heinrich H. Bülthoff, Antonio Franchi
2015	A	`conf`	Nonlinear observer for the control of bi-tethered multi aerial robots. IROS Marco Tognon, Antonio Franchi
2015	A*	`conf`	Nonlinear observer-based tracking control of link stress and elevation for a tethered aerial robot using inertial-only measurements. ICRA Marco Tognon, Antonio Franchi
2014	—	`conf`	A nonlinear force observer for quadrotors and application to physical interactive tasks. AIM Burak Yuksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi
2014	A*	`conf`	A semi-autonomous UAV platform for indoor remote operation with visual and haptic feedback. ICRA Paolo Stegagno, Massimo Basile, Heinrich H. Bülthoff, Antonio Franchi
2014	—	`conf`	Distributed estimation of the inertial parameters of an unknown load via multi-robot manipulation. CDC Antonio Franchi, Antonio Petitti, Alessandro Rizzo
2014	—	`conf`	Image-based road network clearing without localization and without maps using a team of UAVs. ECC Matteo Gagliardi, Giuseppe Oriolo, Heinrich H. Bülthoff, Antonio Franchi
2014	A	`conf`	Multi-target visual tracking with aerial robots. IROS Pratap Tokekar, Volkan Isler, Antonio Franchi
2014	A*	`conf`	Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction. ICRA Burak Yuksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi
2014	A*	`conf`	Semi-autonomous trajectory generation for mobile robots with integral haptic shared control. ICRA Carlo Masone, Paolo Robuffo Giordano, Heinrich H. Bülthoff, Antonio Franchi
2014	A*	`conf`	The flying hand: A formation of UAVs for cooperative aerial tele-manipulation. ICRA Guido Gioioso, Antonio Franchi, Gionata Salvietti, Stefano Scheggi, Domenico Prattichizzo
2014	A*	`conf`	Turning a near-hovering controlled quadrotor into a 3D force effector. ICRA Guido Gioioso, Markus Ryll, Domenico Prattichizzo, Heinrich H. Bülthoff, Antonio Franchi
2013	J	`jnl`	A passivity-based decentralized strategy for generalized connectivity maintenance. Int. J. Robotics Res. Paolo Robuffo Giordano, Antonio Franchi, Cristian Secchi, Heinrich H. Bülthoff
2013	C	`conf`	Aggressive Maneuver Regulation of a Quadrotor UAV. ISRR Sara Spedicato, Giuseppe Notarstefano, Heinrich H. Bülthoff, Antonio Franchi
2013	A*	`conf`	Bilateral control of the degree of connectivity in multiple mobile-robot teleoperation. ICRA Cristian Secchi, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2013	J	`jnl`	Decentralized Multi-Robot Target Encirclement in 3D Space. CoRR Antonio Franchi, Paolo Stegagno, Giuseppe Oriolo
2013	J	`jnl`	Decentralized Rigidity Maintenance Control with Range-only Measurements for Multi-Robot Systems. CoRR Daniel Zelazo, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2013	A	`conf`	Experimental validation of a new adaptive control scheme for quadrotors MAVs. IROS Gianluca Antonelli, Elisabetta Cataldi, Paolo Robuffo Giordano, Stefano Chiaverini, Antonio Franchi
2013	J	`jnl`	Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots. IEEE Trans. Cybern. Hyoung Il Son, Antonio Franchi, Lewis L. Chuang, Junsuk Kim, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2013	J	`jnl`	Mutual localization in multi-robot systems using anonymous relative measurements. Int. J. Robotics Res. Antonio Franchi, Giuseppe Oriolo, Paolo Stegagno
2013	J	`jnl`	Online Leader Selection for Multi-Agent Collective Tracking and Formation Maintenance CoRR Antonio Franchi, Paolo Robuffo Giordano
2013	J	`jnl`	Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots. IEEE Trans. Robotics Andrea Censi, Antonio Franchi, Luca Marchionni, Giuseppe Oriolo
2013	—	`conf`	The TeleKyb framework for a modular and extendible ROS-based quadrotor control. ECMR Volker Grabe, Martin Riedel, Heinrich H. Bülthoff, Paolo Robuffo Giordano, Antonio Franchi
2012	A*	`conf`	3-D mutual localization with anonymous bearing measurements. ICRA Marco Cognetti, Paolo Stegagno, Antonio Franchi, Giuseppe Oriolo, Heinrich H. Bülthoff
2012	A	`conf`	Aerial grasping of a moving target with a quadrotor UAV. IROS Riccardo Spica, Antonio Franchi, Giuseppe Oriolo, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2012	J	`jnl`	Bilateral Teleoperation of Groups of Mobile Robots With Time-Varying Topology. IEEE Trans. Robotics Antonio Franchi, Cristian Secchi, Hyoung Il Son, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2012	A*	`conf`	Bilateral teleoperation of a group of UAVs with communication delays and switching topology. ICRA Cristian Secchi, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2012	—	`conf`	Decentralized control of parallel rigid formations with direction constraints and bearing measurements. CDC Antonio Franchi, Paolo Robuffo Giordano
2012	J	`jnl`	Distributed pursuit-evasion without mapping or global localization via local frontiers. Auton. Robots Joseph W. Durham, Antonio Franchi, Francesco Bullo
2012	—	`conf`	Experiments on Intercontinental Haptic Control of Multiple UAVs. IAS (2) Martin Riedel, Antonio Franchi, Paolo Robuffo Giordano, Heinrich H. Bülthoff, Hyoung Il Son
2012	A	`conf`	Interactive planning of persistent trajectories for human-assisted navigation of mobile robots. IROS Carlo Masone, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2012	J	`jnl`	Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering. Int. J. Robotics Res. Antonio Franchi, Carlo Masone, Volker Grabe, Markus Ryll, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2012	J	`jnl`	On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms. IEEE Trans. Robotics Fabio Pasqualetti, Antonio Franchi, Francesco Bullo
2012	—	`conf`	Rigidity Maintenance Control for Multi-Robot Systems. Robotics: Science and Systems Daniel Zelazo, Antonio Franchi, Frank Allgöwer, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2012	J	`jnl`	Shared Control : Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs. IEEE Robotics Autom. Mag. Antonio Franchi, Cristian Secchi, Markus Ryll, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2012	—	`conf`	SwarmSimX: Real-Time Simulation Environment for Multi-robot Systems. SIMPAR Johannes Lächele, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2011	A*	`conf`	A passivity-based decentralized approach for the bilateral teleoperation of a group of UAVs with switching topology. ICRA Antonio Franchi, Paolo Robuffo Giordano, Cristian Secchi, Hyoung Il Son, Heinrich H. Bülthoff
2011	—	`conf`	An evaluation of haptic cues on the tele-operator's perceptual awareness of multiple UAVs' environments. World Haptics Hyoung Il Son, Junsuk Kim, Lewis L. Chuang, Antonio Franchi, Paolo Robuffo Giordano, Dongjun Lee, Heinrich H. Bülthoff
2011	—	`conf`	Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance. Robotics: Science and Systems Paolo Robuffo Giordano, Antonio Franchi, Cristian Secchi, Heinrich H. Bülthoff
2011	A	`conf`	Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control. IROS Antonio Franchi, Carlo Masone, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2011	—	`conf`	Distributed online leader selection in the bilateral teleoperation of multiple UAVs. CDC/ECC Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2011	A	`conf`	Experiments of passivity-based bilateral aerial teleoperation of a group of UAVs with decentralized velocity synchronization. IROS Paolo Robuffo Giordano, Antonio Franchi, Cristian Secchi, Heinrich H. Bülthoff
2011	A*	`conf`	Haptic teleoperation of multiple unmanned aerial vehicles over the internet. ICRA Dongjun Lee, Antonio Franchi, Paolo Robuffo Giordano, Hyoung Il Son, Heinrich H. Bülthoff
2011	A	`conf`	Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots. IROS Hyoung Il Son, Lewis L. Chuang, Antonio Franchi, Junsuk Kim, Dongjun Lee, Seong-Whan Lee, Heinrich H. Bülthoff, Paolo Robuffo Giordano
2011	A	`conf`	Mutual localization using anonymous bearing measurements. IROS Paolo Stegagno, Marco Cognetti, Antonio Franchi, Giuseppe Oriolo
2011	J	`jnl`	On cooperative patrolling: optimal trajectories, complexity analysis, and approximation algorithms CoRR Fabio Pasqualetti, Antonio Franchi, Francesco Bullo
2010	A*	`conf`	Distributed pursuit-evasion with limited-visibility sensors via frontier-based exploration. ICRA Joseph W. Durham, Antonio Franchi, Francesco Bullo
2010	—	`conf`	On optimal cooperative patrolling. CDC Fabio Pasqualetti, Antonio Franchi, Francesco Bullo
2010	A*	`conf`	On the solvability of the Mutual Localization problem with Anonymous Position Measures. ICRA Antonio Franchi, Giuseppe Oriolo, Paolo Stegagno
2010	—	`conf`	Probabilistic mutual localization in multi-agent systems from anonymous position measures. CDC Antonio Franchi, Giuseppe Oriolo, Paolo Stegagno
2009	A	`conf`	Mutual localization in a multi-robot system with anonymous relative position measures. IROS Antonio Franchi, Giuseppe Oriolo, Paolo Stegagno
2007	A*	`conf`	A Randomized Strategy for Cooperative Robot Exploration. ICRA Antonio Franchi, Luigi Freda, Giuseppe Oriolo, Marilena Vendittelli
2007	—	`conf`	A decentralized strategy for cooperative robot exploration. ROBOCOMM Antonio Franchi, Luigi Freda, Giuseppe Oriolo, Marilena Vendittelli
1999	J	`jnl`	Multimedia via Inmarsat. IEEE Multim. Antonio Franchi, Eyal Trachtman, Louis Christodoulides, Jay Sengupta
1995	J	`jnl`	On the error burst properties of the "standard" K = 7, rate-1/2 convolutional code with soft-decision viterbi decoding. Eur. Trans. Telecommun. Antonio Franchi, Robert A. Harris