A. Franchi

Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV
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Full-Pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles With Limited Actuation Abilities
202311 citationsauthor #4
A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration
20236 citationsauthor #4
Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs
202318 citationsauthor #2
Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective
20230 citationsauthor #4
Differential Flatness and Manipulation of Elasto-flexible Cables Carried by Aerial Robots in a Possibly Viscous Environment
20238 citationsauthor #2
Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty
202315 citationsauthor #4
Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned
20237 citationsauthor #6
Three Fundamental Paradigms for Aerial Physical Interaction Using Nonlinear Model Predictive Control
20224 citationsauthor #5
Past, Present, and Future of Aerial Robotic Manipulators
2022393 citationsauthor #5
A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework
20220 citationsauthor #5
Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case
202216 citationsauthor #6
A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints
202222 citationsauthor #3
Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles
20223 citationsauthor #2
Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits
202225 citationsauthor #3
Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework
202232 citationsauthor #6
Indirect Force Control of a Cable-Suspended Aerial Multi-Robot Manipulator
202225 citationsauthor #5
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems
20223 citationsauthor #7
Motor-Level N-MPC for Cooperative Active Perception With Multiple Heterogeneous UAVs
202211 citationsauthor #4
Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles With Bounded Lateral Force
202112 citationsauthor #4
Coordinated multi-robot trajectory tracking control over sampled communication
202111 citationsauthor #6
Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View
202110 citationsauthor #5
Understanding the omnidirectional capability of a generic multi-rotor aerial vehicle
202113 citationsauthor #4
Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles
202124 citationsauthor #2
Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control
20217 citationsauthor #3
Omni-Plus-Seven (O 7 + ): An Omnidirectional Aerial Prototype with Minimal Uni-directional Thrusters
20211 citationsauthor #4
A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles
20213 citationsauthor #6
Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation
202123 citationsauthor #7
Coordinated Multi-Robot Trajectory Tracking over Sampled Communication
20212 citationsauthor #6
Design of multirotor aerial vehicles: A taxonomy based on input allocation
2021111 citationsauthor #6
Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC
20218 citationsauthor #2
Control of over-redundant cooperative manipulation via sampled communication
20212 citationsauthor #4
Cooperative Aerial Load Transportation via Sampled Communication
202016 citationsauthor #6
Model of the Robotic Elements
20200 citationsauthor #2
Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties
202070 citationsauthor #5
Omni-Plus-Seven (O7+): An Omnidirectional Aerial Prototype with a Minimal Number of Unidirectional Thrusters
202021 citationsauthor #4
Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators
202070 citationsauthor #5
Input Allocation for the Propeller-Based Overactuated Platform ROSPO
20207 citationsauthor #4
Guest editorial: special issue on multi-robot and multi-agent systems
20203 citationsauthor #4
Inertial Estimation and Energy-Efficient Control of a Cable-suspended Load with a Team of UAVs
202012 citationsauthor #6
Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles
202019 citationsauthor #3
FAST-Hex—A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation
202034 citationsauthor #5
Theory and Experiments for a Practical Usecase
20200 citationsauthor #2
Survey on Aerial Multirotor Design: a Taxonomy Based on Input Allocation
202019 citationsauthor #6
(O+): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-directional Thrusters
20200 citationsauthor #4
Force-based Cooperative Aerial Manipulation
20200 citationsauthor #4
Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers
202020 citationsauthor #2
Simulation and Experimental Results
20207 citationsauthor #2
A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure
202013 citationsauthor #4
Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVS
202021 citationsauthor #4
Theoretical Background
20200 citationsauthor #2
Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs
20203 citationsauthor #5
Towards Multiple Tethered Aerial Vehicles
20200 citationsauthor #2
Theory of Tethered Aerial Vehicles
20200 citationsauthor #2
Development of SAM: cable-Suspended Aerial Manipulator*
201961 citationsauthor #6
Aerial physical interaction via IDA-PBC
201935 citationsauthor #4
A study on force-based collaboration in swarms
201930 citationsauthor #5
Force-Moment Decoupling and Rotor-Failure Robustness for Star-Shaped Generically-Tilted Multi-Rotors
20194 citationsauthor #3
Interaction Control of Platforms with Multi-directional Total Thrust
20195 citationsauthor #1
UVDAR System for Visual Relative Localization With Application to Leader–Follower Formations of Multirotor UAVs
2019126 citationsauthor #3
6D interaction control with aerial robots: The flying end-effector paradigm
2019154 citationsauthor #8
Platforms with Multi-directional Total Thrust
20194 citationsauthor #1
Online Leader Selection for Collective Tracking and Formation Control: The Second-Order Case
201915 citationsauthor #1
Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs
201970 citationsauthor #5
Hierarchical non-linear control for multi-rotor asymptotic stabilization based on zero-moment direction
201911 citationsauthor #4
A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants
2019171 citationsauthor #11
Nonlinear Model Predictive Control with Actuator Constraints for Multi-Rotor Aerial Vehicles
20198 citationsauthor #5
A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base
201810 citationsauthor #3
Tele-MAGMaS : an Aerial-Ground Co-Manipulator System
20183 citationsauthor #9
The Tele-MAGMaS: An Aerial-Ground Comanipulator System
201825 citationsauthor #9
A Novel Experimental Model for Variable-Pitch Propellers
20180 citationsauthor #3
Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform
201842 citationsauthor #4
Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms
20184 citationsauthor #3
Omnidirectional Aerial Vehicles With Unidirectional Thrusters: Theory, Optimal Design, and Control
201876 citationsauthor #2
Energy-Efficient Trajectory Generation for a Hexarotor with Dual- Tilting Propellers
201831 citationsauthor #4
Towards a Flying Assistant Paradigm: the OTHex
201868 citationsauthor #6
Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load Flexibility
201810 citationsauthor #3
Fast Mutual Relative Localization of UAVs using Ultraviolet LED Markers
201871 citationsauthor #3
Implementation of a Decentralized Parameter Estimation Strategy for Unknown Loads Through an Over-actuated Robotic Platform
20180 citationsauthor #1
Shared planning and control for mobile robots with integral haptic feedback
201834 citationsauthor #4
Fundamental Actuation Properties of Multirotors: Force–Moment Decoupling and Fail–Safe Robustness
201882 citationsauthor #3
Admittance Filter Wrench Observer Aerial Robot Brushless Controller IMU Geometric Controller State Estimator Motion Capture Desired Trajectory
20180 citationsauthor #7
Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity
201893 citationsauthor #4
The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance
2018201 citationsauthor #3
A Novel Experimental Model and a Drag-Optimal Allocation Method for Variable-Pitch Propellers in Multirotors
201814 citationsauthor #3
A Study on Force-Based Collaboration in Flying Swarms
201815 citationsauthor #4
Control-Aware Motion Planning for Task-Constrained Aerial Manipulation
201846 citationsauthor #6
Trajectory Generation for Minimum Closed-Loop State Sensitivity
201828 citationsauthor #3
Toward Aerial Physical Locomotion: The Contact-Fly-Contact Problem
201813 citationsauthor #3
6D physical interaction with a fully actuated aerial robot
2017151 citationsauthor #7
Explicit Computations, Simulations and additional Results for the Dynamic Decentralized Control for Protocentric Aerial Manipulators Technical Attachment to: ”Dynamic Decentralized Control for Protocentric Aerial Manipulators” 2017 IEEE International Conference on Robotics and Automation (ICRA), Sin
20171 citationsauthor #4
Adaptive closed-loop speed control of BLDC motors with applications to multi-rotor aerial vehicles
201760 citationsauthor #1
Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots
201716 citationsauthor #1
Cooperative Aerial Transportation without Communication: the Role of Internal Force for Pose Regulation
20171 citationsauthor #4
Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation
20177 citationsauthor #5
Communication-less Aerial Co-Manipulation with Cables and the Fundamental role of Internal Force
20172 citationsauthor #4
Dynamic decentralized control for protocentric aerial manipulators
201751 citationsauthor #4
Extended Derivations and Additional Simulations for Aerial Robots Tethered by Cables or Bars
20171 citationsauthor #2
Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories
2017377 citationsauthor #2
Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction
201711 citationsauthor #4

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