Scientific Outcome

In summary the Murophen project has produced:

  • 2 PhD Theses
  • 5 Master Theses
  • 12 International Jounal papers
  • 8 International Conference papers
  • >10 New experimental demonstrations linked to the aforementioned theses and publications

PhD Theses

  • PhD Candidate: Martin Jacquet 
    Title: Methods for Online Predictive Control of Multi-rotor Aerial Robots with Perception-driven Tasks subject to Sensing and Actuation Constraints
    Defense year and Institution: 2022, LAAS and INSA Toulouse
    Thesis manuscript:
  • PhD Candidate: Dario Sanalitro
    Title: Aerial Cooperative Manipulation : full pose manipulation in air and in interaction with the environment
    Defense year and Institution: 2022, LAAS and INSA Toulouse
    Thesis manuscript:

Master Theses

  • Elena Umili
  • Gabriele Petrucci
  • Gianluca Corsini
  • Balhjinder Sing-Bal
  • Max Kivits 

International Journal Papers

  1. Rossi E., M. Tognon, L. Ballotta, R. Carli, J. Cortés, A. Franchi, L. Schenato, Coordinated Multi-Robot Trajectory Tracking Control over Sampled Communication, automatica, in press 2023, 

  2. A E Jiménez-Cano , Dario Sanalitro , M. Tognon , A. Franchi , J. Cortés, Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System, Journal of Intelligent and Robotic Systems, 2022, 105 (3), pp.68. 

  3. Sanalitro D. , Marco Tognon , A Jimenez Cano , Juan Cortés , Antonio Franchi, Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator, IEEE Robotics and Automation Letters, 2022, 7 (3), pp.6726 - 6733. 

  4. Jacquet M. , Max Kivits , Hemjyoti Das , Antonio Franchi Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs, IEEE Robotics and Automation Letters, 2022, 7 (2), pp.2063 - 2070.

  5. Jacquet M. and Franchi A., Motor and Perception Constrained NMPC for Torque-controlled Generic Aerial Vehicles, IEEE Robotics and Automation Letters 2021,

  6. 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, 2020,,

  7. Gabellieri C, Tognon M, Sanalitro D, Palottino L, Franchi A., A Study on Force-based Collaboration in Swarms. Swarm Intelligence 2019,

  8. 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, 2020.,

  9. 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

  10. 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.

  11. 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.

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

Peer Reviewed International Conference Proceedings

  1. Jacquet M. and A. Franchi, Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles, 2022 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2022, 

  2. Corsini G and M. Jacquet and H. Das and A Afifi and D. Sidobre and A. Franchi, Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case, 2022 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2022,

  3. Corsini G., Jacquet M., Jimenez-Cano AE., Afifi A., Sidobre D., Franchi A., A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles, The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, 2021,

  4. 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,

  5. 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) 2019,

  6. 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.

  7. 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.

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