Antonio Franchi

ORCID

Publication Activity (10 Years)

Years Active: 1995-2024
Publications (10 Years): 107

Top Venues

ICRA

CoRR

IEEE Robotics Autom. Lett.

IROS

Publications

Chiara Gabellieri, Antonio Franchi
On the Existence of Static Equilibria of a Cable-Suspended Load with Non-stopping Flying Carriers. CoRR (2024)
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) (2024)
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 (2024)
Mirko Mizzoni, Amr Afifi, Antonio Franchi
Necessary and Sufficient Conditions to the Problem of Input-Output Extension of Internally Controlled Underactuated Nonlinear Systems. CoRR (2024)
Yaolei Shen, Chiara Gabellieri, Antonio Franchi
Aerial Robots Carrying Flexible Cables: Dynamic Shape Optimal Control via Spectral Method Model. CoRR (2024)
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) (2024)
Giuseppe Silano, Amr Afifi, Martin Saska, Antonio Franchi
Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective. CoRR (2023)
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 (2023)
Youssef Aboudorra, Chiara Gabellieri, Quentin Sablé, Antonio Franchi
Modelling, Analysis and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV. CoRR (2023)
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 (2023)
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) (2023)
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 (2023)
Ali Srour, Antonio Franchi, Paolo Robuffo Giordano
Controller and Trajectory Optimization for a Quadrotor UAV with Parametric Uncertainty. IROS (2023)
Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Antonio Franchi
Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System subject to Model Uncertainty. CoRR (2023)
Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Antonio Franchi
Force-Based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias. IROS (2023)
Sihao Sun, Antonio Franchi
Nonlinear MPC for full-pose manipulation of a cable-suspended load using multiple UAVs. CoRR (2023)
Giuseppe Silano, Amr Afifi, Martin Saska, Antonio Franchi
A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration. CoRR (2023)
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) (2023)
Aníbal Ollero, Marco Tognon, Alejandro Suárez, Dongjun Lee, Antonio Franchi
Past, Present, and Future of Aerial Robotic Manipulators. IEEE Trans. Robotics 38 (1) (2022)
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)
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 (2022)
Amr Afifi, Mark van Holland, Antonio Franchi
Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits. ICRA (2022)
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) (2022)
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) (2022)
Martin Jacquet, Antonio Franchi
Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles. IROS (2022)
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)
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) (2022)
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) (2022)
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) (2021)
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) (2021)
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) (2021)
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) (2021)
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) (2021)
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)
Martin Jacquet, Antonio Franchi
Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles. IEEE Robotics Autom. Lett. 6 (2) (2021)
Enrica Rossi, Marco Tognon, Ruggero Carli, Antonio Franchi, Luca Schenato
Control of over-redundant cooperative manipulation via sampled communication. CoRR (2021)
Enrica Rossi, Marco Tognon, Luca Ballotta, Ruggero Carli, Juan Cortés, Antonio Franchi, Luca Schenato
Coordinated Multi-Robot Trajectory Tracking over Sampled Communication. CoRR (2021)
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) (2020)
Markus Ryll, Davide Bicego, Mattia Giurato, Marco Lovera, Antonio Franchi
FAST-Hex - A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation. CoRR (2020)
Martin Jacquet, Gianluca Corsini, Davide Bicego, Antonio Franchi
Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVS. ICRA (2020)
Michele Furci, Carlo Nainer, Luca Zaccarian, Antonio Franchi
Input Allocation for the Propeller-Based Overactuated Platform ROSPO. IEEE Trans. Control. Syst. Technol. 28 (6) (2020)
Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Lucia Pallottino, Antonio Franchi
A study on force-based collaboration in swarms. Swarm Intell. 14 (1) (2020)
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) (2020)
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) (2020)
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) (2020)
Mahmoud Hamandi, Marco Tognon, Antonio Franchi
Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles. ICRA (2020)
Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi
Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction. Autom. 117 (2020)
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) (2020)
Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak
. ICRA (2019)
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) (2019)
Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak
Development of SAM: cable-Suspended Aerial Manipulator. CoRR (2019)
Burak Yuksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi
Aerial physical interaction via IDA-PBC. Int. J. Robotics Res. 38 (4) (2019)
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) (2019)
Giulia Michieletto, Angelo Cenedese, Antonio Franchi
Force-Moment Decoupling and Rotor-Failure Robustness for Star-Shaped Generically-Tilted Multi-Rotors. CDC (2019)
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)
Antonio Franchi, Antonio Petitti, Alessandro Rizzo
Distributed Estimation of State and Parameters in Multiagent Cooperative Load Manipulation. IEEE Trans. Control. Netw. Syst. 6 (2) (2019)
Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi
Hierarchical non-linear control for multi-rotor asymptotic stabilization based on zero-moment direction. CoRR (2019)
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) (2019)
Davide Bicego, Jacopo Mazzetto, Ruggero Carli, Marcello Farina, Antonio Franchi
Nonlinear Model Predictive Control with Actuator Constraints for Multi-Rotor Aerial Vehicles. CoRR (2019)
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)
Fabio Morbidi, Davide Bicego, Markus Ryll, Antonio Franchi
Energy-Efficient Trajectory Generation for a Hexarotor with Dual- Tilting Propellers. IROS (2018)
Michele Furci, Davide Bicego, Antonio Franchi
Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms. SyRoCo (2018)
Chiara Gabellieri, Marco Tognon, Lucia Pallottino, Antonio Franchi
A Study on Force-Based Collaboration in Flying Swarms. ANTS Conference (2018)
Nicolas Staub, Davide Bicego, Quentin Sablé, Victor Arellano, Subodh Mishra, Antonio Franchi
Towards a Flying Assistant Paradigm: the OTHex. ICRA (2018)
Marco Tognon, Antonio Franchi
Omnidirectional Aerial Vehicles With Unidirectional Thrusters: Theory, Optimal Design, and Control. IEEE Robotics Autom. Lett. 3 (3) (2018)
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 (2018)
Antonio Franchi, Paolo Robuffo Giordano
Online Leader Selection for Improved Collective Tracking and Formation Maintenance. IEEE Trans. Control. Netw. Syst. 5 (1) (2018)
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)
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) (2018)
Hyunsoo Yang, Nicolas Staub, Antonio Franchi, Dongjun Lee
Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load Flexibility. IROS (2018)
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) (2018)
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) (2018)
Markus Ryll, Davide Bicego, Antonio Franchi
A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base. SyRoCo (2018)
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) (2018)
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) (2018)
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) (2018)
Quentin Delamare, Paolo Robuffo Giordano, Antonio Franchi
Toward Aerial Physical Locomotion: The Contact-Fly-Contact Problem. IEEE Robotics Autom. Lett. 3 (2) (2018)
Paolo Robuffo Giordano, Quentin Delamare, Antonio Franchi
Trajectory Generation for Minimum Closed-Loop State Sensitivity. ICRA (2018)
Giulia Michieletto, Markus Ryll, Antonio Franchi
Fundamental Actuation Properties of Multirotors: Force-Moment Decoupling and Fail-Safe Robustness. IEEE Trans. Robotics 34 (3) (2018)
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) (2018)
Antonio Franchi, Anthony Mallet
Adaptive closed-loop speed control of BLDC motors with applications to multi-rotor aerial vehicles. ICRA (2017)
Marco Tognon, Burak Yuksel, Gabriele Buondonno, Antonio Franchi
Dynamic decentralized control for protocentric aerial manipulators. ICRA (2017)
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)
Yoann Solana, Michele Furci, Juan Cortés, Antonio Franchi
Multi-robot path planning with maintenance of generalized connectivity. MRS (2017)
Marco Tognon, Antonio Franchi
Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars. IEEE Trans. Robotics 33 (4) (2017)
Nora Ayanian, Robert Fitch, Antonio Franchi, Lorenzo Sabattini
Multirobot Systems [TC Spotlight]. IEEE Robotics Autom. Mag. 24 (2) (2017)
Matthias Faessler, Antonio Franchi, Davide Scaramuzza
Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories. CoRR (2017)
Giulia Michieletto, Markus Ryll, Antonio Franchi
Control of statically hoverable multi-rotor aerial vehicles and application to rotor-failure robustness for hexarotors. ICRA (2017)
Nicolas Staub, Mostafa Mohammadi, Davide Bicego, Domenico Prattichizzo, Antonio Franchi
Towards robotic MAGMaS: Multiple aerial-ground manipulator systems. ICRA (2017)
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) (2017)
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)
Sara Spedicato, Antonio Franchi, Giuseppe Notarstefano
From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots. CoRR (2016)
Markus Ryll, Davide Bicego, Antonio Franchi
Modeling and control of FAST-Hex: A fully-actuated by synchronized-tilting hexarotor. IROS (2016)
Burak Yuksel, Nicolas Staub, Antonio Franchi
Aerial robots with rigid/elastic-joint arms: Single-joint controllability study and preliminary experiments. IROS (2016)
Antonio Franchi, Paolo Stegagno, Giuseppe Oriolo
Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance. Auton. Robots 40 (2) (2016)
Antonio Franchi, Ruggero Carli, Davide Bicego, Markus Ryll
Full-Pose Geometric Tracking Control on SE(3) for Laterally Bounded Fully-Actuated Aerial Vehicles. CoRR (2016)
Marco Tognon, Andrea Testa, Enrica Rossi, Antonio Franchi
Takeoff and landing on slopes via inclined hovering with a tethered aerial robot. IROS (2016)
Antonio Franchi, Antonio Petitti, Alessandro Rizzo
Distributed Estimation for Cooperative Mobile Manipulation. CoRR (2016)
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)
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) (2016)

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Publication Activity (10 Years)

Top Topics

Top Venues

Antonio Franchi