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: https://hal.laas.fr/tel-03876853
  • 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: https://hal.laas.fr/tel-03736370

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, https://arxiv.org/abs/2112.00165 

  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. https://hal.laas.fr/hal-03748086 

  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. https://hal.laas.fr/hal-03664826 

  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. https://hal.laas.fr/hal-03482081

  5. Jacquet M. and Franchi A., Motor and Perception Constrained NMPC for Torque-controlled Generic Aerial Vehicles, IEEE Robotics and Automation Letters 2021, https://hal.laas.fr/hal-03154736/document

  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, https://hal.laas.fr/hal-02460422/document,

  7. Gabellieri C, Tognon M, Sanalitro D, Palottino L, Franchi A., A Study on Force-based Collaboration in Swarms. Swarm Intelligence 2019, https://hal.laas.fr/hal-02346606/file/main.pdf

  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. https://hal.laas.fr/hal-02170909/document,

  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 https://hal.laas.fr/hal-01964754/document, 

  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. https://hal.laas.fr/hal-02069490/document

  11. Franchi A, Petitti A, Rizzo A. Distributed Estimation of State and Parameters in Multi-Agent Cooperative Manipulation. IEEE Trans. on Control of Network Systems. 2019;6(2):690-701. https://hal.laas.fr/hal-01879384/document

  12. 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.  https://hal.inria.fr/hal-01935127/document 

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, https://hal.laas.fr/hal-03597619 

  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, https://hal.laas.fr/hal-03716664

  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, https://hal.archives-ouvertes.fr/hal-03327702/document

  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, http://www.dis.uniroma1.it/~labrob/pub/papers/ICUAS20_UmiTogSanOriFra.pdf

  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, https://hal.laas.fr/hal-02974320/document

  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.  https://hal.laas.fr/hal-01814840/document

  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. https://hal.laas.fr/hal-01814828/document

  8. Gabellieri C, Tognon M, Palottino L, Franchi A. A Study on Force-based Collaboration in Flying Swarms. Eleventh International  Conference on Swarm Intelligence; 2018. https://hal.laas.fr/hal-01846465/document