1. Jacquet M. and Franchi A., Motor and Perception Constrained NMPC for Torque-controlled Generic Aerial Vehicles, IEEE Robotics and Automation Letters 2021, DOI: 10.1109/lra.2020.3045654

  2. Jacquet M. and Corsini G. and Bicego D. and Franchi A., Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVs, The International Conference on Robotics and Automation (ICRA) 2017,

  3. Umili E., Tognon M., Sanalitro D., Oriolo G. and Franchi A., Communication-based and Communication-less approaches for Robust Cooperative  Planning in Construction with a Team of UAVs, International Conference on Unmanned Aircraft Systems (ICUAS) 2020,

  4. Sanalitro D., Savino H.J., Tognon M., Cortès J., Franchi A., Full-pose Manipulation Control of a Cable-Suspended Load with multiple UAVs under uncertainties; IEEE Robotics and Automation Letters 2019,
  5. Gabellieri C, Tognon M, Sanalitro D, Palottino L, Franchi A., A Study on Force-based Collaboration in Swarms. Swarm Intelligence 2019

  6. Rossi E., Tognon M., Carli R., Schenato L., Cortés J., Franchi A., Discrete-time control of Multi-agent Parallel kinematic Systems, IEEE Control Systems Letters (L-CSS),vol. 4,no. 2,  pp.277-282, 2019.,

  7. Franchi A, Robuffo Giordano P, Michieletto G. Online Leader Selection for Improved Collective Tracking and Formation Maintenance: the Second Order Case. IEEE Transactions on Control of Network Systems; 2019, DOI: 10.1109/TCNS.2019.2891011

  8. Walter V., and N. Staub and A. Franchi and M. Saska, UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs. IEEE Robotics and Automation Letters, vol.4, no.3, 2637-2644,2019.

  9. Walter V, Staub N, Saska M, Franchi A. Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform. International Conference on Automation Science and Engineering; 2018.

  10. Walter V, Saska M, Franchi A. Fast Mutual Relative Localization of UAVs using Ultraviolet LED markers. In 2018 International Conference on Unmanned Aircraft Systems. Dallas, TX; 2018. pp. 1217-1226.

  11. Gabellieri C, Tognon M, Palottino L, Franchi A. A Study on Force-based Collaboration in Flying SwarmsEleventh International  Conference on Swarm Intelligence; 2018.

  12. Franchi A, Petitti A, Rizzo A. Distributed Estimation of State and Parameters in Multi-Agent Cooperative ManipulationIEEE Trans. on Control of Network Systems. 2019;6(2):690-701.

  13. Staub N, Mohammadi M, Bicego D, Delamare Q, Yang H, Prattichizzo D, et al.. The Tele-MAGMaS: an Aerial-Ground Co-manipulator System. IEEE Robotics and Automation Magazine. 2018;25(4):66-75.7.