1. Gabellieri C, Tognon M, Sanalitro D, Palottino L, Franchi A. A Study on Force-based Collaboration in Swarms. Swarm Intelligence (accepted); 2019

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

  3. 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

  4. 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.

  5. 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.

  6. 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.

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

  8. 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.

  9. 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.