Nombre de documents

65

Antonio Franchi, PhD


Article dans une revue11 documents

  • Thomas Nestmeyer, Paolo Robuffo Giordano, Heinrich H. Bülthoff, Antonio Franchi. Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots. Autonomous Robots, Springer Verlag, 2017, 41 (4), pp.989-1011. 〈10.1007/s10514-016-9578-9〉. 〈hal-01332937〉
  • Marco Tognon, Antonio Franchi. Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars. IEEE Transactions on Robotics, Institute of Electrical and Electronics Engineers (IEEE), 2017, 33 (4), pp. 834 - 845. 〈hal-01483524〉
  • Gianluca Antonelli, Elisabetta Cataldi, Filippo Arrichiello, Paolo Robuffo Giordano, Stefano Chiaverini, et al.. Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2017, 〈10.1109/TCST.2017.2650679〉. 〈hal-01483653〉
  • Marco Tognon, Sanket Suman Dash, Antonio Franchi. Observer-Based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform. IEEE Robotics and Automation Letters, IEEE 2016, 1 (2), pp. 732-737. 〈10.1109/LRA.2016.2523599〉. 〈hal-01285318〉
  • Paolo Stegagno, Marco Cognetti, Giuseppe Oriolo, Heinrich Bülthoff, Antonio Franchi. Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements. IEEE Transactions on Robotics, IEEE, 2016, 32 (5), pp.1133 - 1151. 〈10.1109/TRO.2016.2593454〉. 〈hal-01393702〉
  • Antonio Franchi, Paolo Robuffo Giordano. Online Leader Selection for Improved Collective Tracking and Formation Maintenance. IEEE Transactions on Control of Network Systems, IEEE, 2016, 〈10.1109/TCNS.2016.2567222〉. 〈hal-01315463〉
  • Antonio Franchi, Paolo Stegagno, Giuseppe Oriolo. Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance. Autonomous Robots, Springer Verlag, 2015, 〈10.1007/s10514-015-9450-3〉. 〈hal-01228807〉
  • Daniel Zelazo, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano. Decentralized rigidity maintenance control with range measurements for multi-robot systems. International Journal of Robotics Research, SAGE Publications, 2015, 34 (1), pp.105-128. 〈10.1177/0278364914546173〉. 〈hal-01076423〉
  • Paolo Robuffo Giordano, Antonio Franchi, Christian Secchi, Heinrich H Bülthoff. A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance. The International Journal of Robotics Research, sage, 2013, 32 (3), pp.299-323. 〈10.1177/0278364912469671〉. 〈hal-00910385〉
  • Hyoung Il Son, Antonio Franchi, Lewis Chuang, Junsuk Kim, Heinrich H Bülthoff, et al.. Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots. IEEE Transactions on Cybernetics, ieee, 2013, 43 (2), pp.597-609. 〈10.1109/TSMCB.2012.2212884〉. 〈hal-00910383〉
  • Dongjun Lee, Antonio Franchi, Hyoung Il Son, Changsu Ha, Heinrich H Bülthoff, et al.. Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2013, 18 (4), pp.1334-1345. 〈10.1109/TMECH.2013.2263963〉. 〈hal-00910801〉

Communication dans un congrès41 documents

  • Antonio Franchi, Anthony Mallet. Adaptive Closed-loop Speed Control of BLDC Motors with Applications to Multi-rotor Aerial Vehicles. IEEE International Conference on Robotics and Automation, May 2017, Singapour, Singapore. 2017. 〈hal-01476812〉
  • Marco Tognon, Burak Yüksel, Gabriele Buondonno, Antonio Franchi. Dynamic Decentralized Control for Protocentric Aerial Manipulators. 2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 6p., 2017. 〈hal-01476817〉
  • Nicolas Staub, Mostafa Mohammadi, Davide Bicego, Domenico Prattichizzo, Antonio Franchi. Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems. 2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 2017. 〈hal-01476813〉
  • Giulia Michieletto, Markus Ryll, Antonio Franchi. Control of Statically Hoverable Multi-Rotor Aerial Vehicles and Application to Rotor-Failure Robustness for Hexarotors. 2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 6p., 2017. 〈hal-01476816〉
  • Markus Ryll, Giuseppe Muscio, Francesco Pierri, Elisabetta Cataldi, Gianluca Antonelli, et al.. 6D Physical Interaction with a Fully Actuated Aerial Robot. 2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 2017. 〈hal-01476814〉
  • Jose Luis Sanchez-Lopez, Victor Arellano-Quintana, Marco Tognon, Pascual Campoy, Antonio Franchi. Visual Marker based Multi-Sensor Fusion State Estimation. 2017 IFAC World Congress, Jul 2017, Toulouse, France. 6p., 2017. 〈hal-01562557〉
  • Jose Luis Sanchez-Lopez, Victor Arellano-Quintana, Marco Tognon, Pascual Campoy, Antonio Franchi. Visual Marker based Multi-Sensor Fusion State Estimation. IFAC World Congress, Jul 2017, Toulouse, France. Proceedings of the 20th IFAC World Congress, 6p., 2017. 〈hal-01501980〉
  • Marco Tognon, Antonio Franchi. Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform. 20th IFAC World Congress, Jul 2017, Toulouse, France. Proceedings of the 20th IFAC World Congress, 7p., 2017. 〈hal-01501919〉
  • Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi. Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction. IFAC World Congress 2017, Jul 2017, Toulouse, France. 2017. 〈hal-01513229〉
  • Sara Spedicato, Antonio Franchi, Giuseppe Notarstefano. From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots. IEEE International Conference on Robotics & Automation (ICRA), May 2016, Stockholm, Sweden. pp.2965-2970, 2016. 〈hal-01271988〉
  • Antonio Petitti, Antonio Franchi, Donato Di Paola, Alessandro Rizzo. Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators. 2016 IEEE International Conference on Robotics & Automation (ICRA), May 2016, Stockholm, Sweden. pp. 441-446, 2016. 〈hal-01285043〉
  • Mostafa Mohammadi, Antonio Franchi, Davide Barcelli, Domenico Prattichizzo. Cooperative Aerial Tele-Manipulation with Haptic Feedback. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea. 〈http://www.iros2016.org/〉. 〈hal-01348539v2〉
  • Burak Yüksel, Gabriele Buondonno, Antonio Franchi. Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-Joints. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea. 〈hal-01350867〉
  • Marco Tognon, Andrea Testa, Enrica Rossi, Antonio Franchi. Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot. 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea. 〈hal-01350883〉
  • Giulia Michieletto, Angelo Cenedese, Antonio Franchi. Bearing Rigidity Theory in SE(3). 55th IEEE Conference on Decision and Control, Dec 2016, Las Vegas, United States. 2016. 〈hal-01371084〉
  • Markus Ryll, Davide Bicego, Antonio Franchi. Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor. IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ) 2016, Oct 2016, Daejeon, South Korea. 〈hal-01348538〉
  • Fabrizio Schiano, Antonio Franchi, Daniel Zelazo, Paolo Robuffo Giordano. A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Oct 2016, Daejeon, South Korea. pp.5099-5106, 〈http://www.iros2016.org/〉. 〈hal-01348543〉
  • Burak Yüksel, Nicolas Staub, Antonio Franchi. Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea. 〈http://www.iros2016.org/〉. 〈hal-01348545〉
  • Daniel Zelazo, Paolo Robuffo Giordano, Antonio Franchi. Bearing-Only Formation Control Using an SE(2) Rigidity Theory. IEEE Conf. on Decision and Control, CDC 2015 , Dec 2015, Osaka, Japan. 2015. 〈hal-01187978〉
  • Guido Gioioso, Mostafa Mohammadi, Antonio Franchi, Domenico Prattichizzo. A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment. 2015 IEEE Int. Conf. on Robotics and Automation, May 2015, Seattle, United States. 〈hal-01135204〉
  • Marco Tognon, Antonio Franchi. Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots. European Control Conference (ECC), Jul 2015, Linz, Austria. 〈hal-01137736〉
  • Antonio Franchi, Antonio Petitti, Alessandro Rizzo. Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements. 2015 IEEE Int. Conf. on Robotics and Automation, May 2015, Seattle, United States. 〈hal-01135206v2〉
  • Burak Yüksel, 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. 2015 IEEE Int. Conf. on Robotics and Automation, May 2015, Seattle, United States. 〈hal-01135205v2〉
  • Nicolas Staub, Antonio Franchi. Battery-aware Dynamical Modeling and Identification for the Total Thrust in Multi-rotor UAVs using only an Onboard Accelerometer. 2015 IEEE Int. Conf. on Robotics & Automation, May 2015, Seattle, United States. 〈hal-01137960〉
  • Marco Tognon, Antonio Franchi. Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots. International Conference on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. 〈hal-01182759〉
  • Sujit Rajappa, Markus Ryll, Heinrich H. Bülthoff, Antonio Franchi. Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers. IEEE ICRA 2015, May 2015, Seattle, Washington, USA, United States. 〈hal-01134829〉
  • Marco Tognon, Antonio Franchi. Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements. 2015 IEEE International Conference on Robotics and Automation, May 2015, Seattle, United States. 〈hal-01124450〉
  • Pratap Tokekar, Volkan Isler, Antonio Franchi. Multi-target visual tracking with aerial robots. 2014 IEEE Int. Conf, on Intelligent Robots and Systems, Sep 2014, Chicago, United States. 2014, 〈10.1109/IROS.2014.6942986〉. 〈hal-01137820〉
  • Antonio Franchi, Antonio Petitti, Alessandro Rizzo. Distributed estimation of the inertial parameters of an unknown load via multi-robot manipulation. 2014 53rd IEEE Conference on Decision and Control, Dec 2014, Los Angeles, United States. 2014, 〈10.1109/CDC.2014.7040346〉. 〈hal-01137826〉
  • Matteo Gagliardi, Giuseppe Oriolo, Heinrich H Bülthoff, Antonio Franchi. Image-based road network clearing without localization and without maps using a team of UAVs. 2014 European Control Conference, Jun 2014, Strasbourg, France. 7p., 2014, 〈10.1109/ECC.2014.6862560〉. 〈hal-01137963〉
  • Burak Yüksel, Cristian Secchi, Heinrich H Bülthoff, Antonio Franchi. A nonlinear force observer for quadrotors and application to physical interactive tasks. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besancon, France. 8p., 2014, 〈10.1109/AIM.2014.6878116〉. 〈hal-01137966〉
  • Burak Yüksel, Cristian Secchi, Heinrich H Bülthoff, Antonio Franchi. Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction. 2014 IEEE Int. Conf. on Robotics and Automation, May 2014, Hong Kong, China. 8p., 2014, 〈10.1109/ICRA.2014.6907782〉. 〈hal-01137967〉
  • Paolo Stegagno, Massimo Basile, Heinrich H Bülthoff, Antonio Franchi. A semi-autonomous UAV platform for indoor remote operation with visual and haptic feedback. 2014 IEEE Int. Conf. on Robotics and Automation, May 2014, Hong Kong, China. 8p., 2014, 〈10.1109/ICRA.2014.6907419〉. 〈hal-01137970〉
  • Guido Gioioso, Markus Ryll, Domenico Prattichizzo, Heinrich H. Bülthoff, Antonio Franchi. Turning a near-hovering controlled quadrotor into a 3D force effector. 2014 IEEE Int. Conf. on Robotics and Automation, May 2014, Hong Kong, Hong Kong SAR China. pp.6278 - 6284, 2014, 〈10.1109/ICRA.2014.6907785〉. 〈hal-01083777〉
  • Daniel Zelazo, Antonio Franchi, Paolo Robuffo Giordano. Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing Measurements. European Control Conference, ECC'14, Jun 2014, Strasbourg, France. 2014. 〈hal-00994989〉
  • Carlo Masone, Paolo Robuffo Giordano, Heinrich H. Bülthoff, Antonio Franchi. Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control. IEEE Int. Conf. on Robotics and Automation, ICRA'14, May 2014, Hong-Kong, Hong Kong SAR China. 2014. 〈hal-00949184〉
  • Thomas Nestmeyer, Paolo Robuffo Giordano, Antonio Franchi. Multi-target Simultaneous Exploration with Continual Connectivity. Int Workshop on Crossing the Reality Gap: From Single to Multi-to Many Robot Systems, May 2013, Karlsruhe, Germany. 2013. 〈hal-00917941〉
  • Riccardo Spica, Paolo Robuffo Giordano, Markus Ryll, Heinrich H Bülthoff, Antonio Franchi. An Open-Source Hardware/Software Architecture for Quadrotor UAVs. 2nd Workshop on Research, Education and Development of Unmanned Aerial System, Nov 2013, Compiègne, France. 2013. 〈hal-00906138〉
  • Gianluca Antonelli,, Elisabetta Cataldi,, Paolo Robuffo Giordano, Stefano Chiaverini, Antonio Franchi. Experimental validation of a new adaptive control scheme for quadrotors MAVs. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.2439-2444, 2013. 〈hal-00851067〉
  • Voker Grabe, Martin Riedel, Heinrich H Bülthoff, Paolo Robuffo Giordano, Antonio Franchi. The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control. European Conference on Mobile Robots, ECMR 2013, Sep 2013, Barcelona, Catalonia, Spain. 2013. 〈hal-00908803〉
  • Christian Secchi, Antonio Franchi, Heinrich H Bülthoff, Paolo Robuffo Giordano. Bilateral Control of the Degree of Connectivity in Multiple Mobile-Robot Teleoperation. IEEE Int. Conf. on Robotics and Automation, ICRA 2013, May 2013, Karlsruhe, Germany. pp.3645-3652, 2013, 〈10.1109/ICRA.2013.6631089〉. 〈hal-00910833〉

Chapitre d'ouvrage1 document

  • Antonio Franchi. Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots Mobile robot. 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〉. 〈hal-01562555〉

Pré-publication, Document de travail7 documents

  • Marco Tognon, Chiara Gabellieri, Lucia Pallottino, Antonio Franchi. Communication-less Aerial Co-Manipulation with Cables and the Fundamental role of Internal Force. Rapport LAAS n° 17220. 2017. 〈hal-01551105v2〉
  • C Nainer, M Furci, Alexandre Seuret, Luca Zaccarian, Antonio Franchi. Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation. Rapport LAAS n° 17074. 2017. 〈hal-01496283v2〉
  • Giulia Michieletto, Markus Ryll, Antonio Franchi. Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness. Rapport LAAS n° 17370. 2017. 〈hal-01612602〉
  • Marco Tognon, Andrea Testa, Enrica Rossi, Antonio Franchi. Extended Experiments for Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot. . Rapport LAAS n° 16212. 2016. 〈hal-01349743v2〉
  • Burak Yüksel, Gabriele Buondonno, Antonio Franchi. Protocentric Aerial Manipulators: Flatness Proofs and Simulations. Rapport LAAS n° 16208. 2016. 〈hal-01351153〉
  • Marco Tognon, Burak Yüksel, Gabriele Buondonno, Antonio Franchi. Dynamic Decentralized Control for Protocentric Aerial Manipulators. Rapport LAAS n° 16549. 2016. 〈hal-01388450〉
  • Burak Yüksel, Antonio Franchi. PVTOL Aerial Manipulators with a Rigid or an Elastic Joint: Analysis, Control, and Comparison. Rapport LAAS n° 16421. 2016. 〈hal-01388462〉

Rapport5 documents

  • Marco Tognon, Antonio Franchi. Extended Derivations and Additional Simulations for Aerial Robots Tethered by Cables or Bars. [Other] Rapport LAAS n° 17032, LAAS-CNRS. 2017. 〈hal-01473165〉
  • Marco Tognon, Burak Yüksel, Gabriele Buondonno, Antonio Franchi. Explicit Computations, Simulations and additional Results for the Dynamic Decentralized Control for Protocentric Aerial Manipulators. [Research Report] Rapport LAAS n° 17048, LAAS-CNRS; Max Planck Institute for Biological Cybernetics; Sapienza Universit`a di Roma. 2017. 〈hal-01474695〉
  • Burak Yüksel, Nicolas Staub, Antonio Franchi. Explicit Computations and Further Extensive Simulations for Rigid-or Elastic-joint Arm: Technical Attachment to: " Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment " 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems,Daejeon, South Korea, October 2016. [Technical Report] Rapport LAAS n° 16198, LAAS-CNRS; MPI - Max Planck Institute for Biological Cybernetics. 2016. 〈hal-01345564v2〉
  • Marco Tognon, Antonio Franchi. Extended Simulations for the Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform: Technical Attachment to: M. Tognon, S. S. Dash, and A. Franchi ''Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform'' published in the IEEE Robotics and Automation Letters and additionally presented at 2016 IEEE ICRA conference. [Research Report] LAAS-CNRS. 2016. 〈hal-01261251〉
  • Marco Tognon, Antonio Franchi. Extended Simulations for the Link Stress and Elevation Control of a Tethered Aerial Robot: Technical Attachment to: “Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements” presented at 2015 IEEE Intern. Conf. on Robotics and Automation (ICRA), Seattle WA, May 2015. [Research Report] LAAS-CNRS. 2015. 〈hal-01118868〉