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prof.dr.ir. A. Franchi (Antonio)

Full Professor

About Me

Antonio Franchi is a Full Professor with double affiliation at the University of Twente, Enschede, The Netherlands and the Sapienza University of Rome, Rome, Italy. He is a IEEE Fellow.

From 2022 till 2023 he was a Full Professor at the University of Twente. From 2019 till 2021 he was an Associate Professor at the University of Twente. From 2019 till 2023 he was an Affiliated Researcher at LAAS-CNRS. From 2014 to 2019 he was a Permanent Researcher at CNRS and the leader of the aerial robotics activities at LAAS-CNRS. From 2010 to 2013 he was a Research Scientist and then a Senior Research Scientist at the Max Planck Institute for Biological Cybernetics in Germany, and the scientific leader of the group “Autonomous Robotics and Human Machine Systems”. He received the Laurea (M.Sc.) degree (summa cum laude) in Electronic Engineering and the Ph.D. degree in System Engineering (Feb. 2010) from Sapienza University of Rome, Italy. In 2009 he was a visiting student at the University of California at Santa Barbara.

He received both the French and Italian Professorial Habilitation for Full-professorship (HDR and ASN resp.) from the National Polytechnic Institute of Toulouse and the Italian Ministry of University and Research in 2016 and 2018, respectively.

For more information: https://homepages.laas.fr/afranchi/robotics/?q=bio

Expertise

Engineering & Materials Science
# Controllers
# Manipulators
# Multipurpose Robots
# Propellers
# Remote Control
# Robots
# Trajectories
# Unmanned Aerial Vehicles (Uav)

Organisations

Ancillary Activities

  • Sapienza University of Rome
    Teaching and collaboration with Sapienza University of Rome
  • European Commission
    Expert for proposals evaluation and project review
  • Sapienza University of Rome
    Teaching and collaboration with Sapienza University of Rome

Research

His main research interests lie in the robotics area, with a special regard to control and estimation problems and applications ranging across motion and physical interaction control, decentralized control/estimation/coordination, haptics, and hardware/software architectures. His main areas of expertise are aerial robotics and multiple-robot systems.

He published more than 140 papers in international journals, books, and conferences and gave more than 65 invited talks in international venues since 2010. In 2010 he was awarded with the “IEEE RAS ICYA Best Paper Award” for one of his works on Multi-robot Exploration. In 2018 he was a recipient of the 2018 IEEE RAS Most Active Technical Committee Award.

Since 2016 he is Associate Editor of the IEEE Transactions on Robotics. Since 2020 he is senior Editor of IEEE ICRA. He has been associate editor of the IEEE Robotics & Automation Magazine (2013 to 2016), IEEE ICRA (2014 to 2019), IEEE/RSJ IROS (2014 to 2017) and the IEEE Aerospace and Electronic Systems Magazine (2015).

Publications

Other Contributions

Journal Articles

  8. Yüksel B, Secchi C, Bülthoff HH, Franchi A. Aerial Physical Interaction via IDA-PBC. The International Journal of Robotics Research. 2019;38(4):403–421.  PDF icon preprint-pdf (7.38 MB)File video (14.22 MB)
  9. Furci M, Nainer C, Zaccarian L, Franchi A. Input Allocation for the Propeller-Based Overactuated Platform ROSPO. IEEE Trans. on Control Systems Technology. 2019;18(6):2720-2727.  PDF icon preprint-pdf (3.05 MB)
  12. Ryll M, Muscio G, Pierri F, Cataldi E, Antonelli G, Caccavale F, et al.. 6D Interaction Control with Aerial Robots: The Flying End-Effector Paradigm. The International Journal of Robotics Research. 2019;38(9):1045-1062.  PDF icon preprint-pdf (6.86 MB)File video-1 (10.22 MB)File video-2 (17.98 MB)File video-3 (13.97 MB)
  15. Ollero A, Heredia G, Franchi A, Antonelli G, Kondak K, Sanfeliu A, et al.. The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance. IEEE Robotics and Automation Magazine, Special Issue on Floating-base (Aerial and Underwater) Manipulation. 2018;25(4):12-23.  PDF icon preprint-pdf (4.77 MB)
  16. Masone C, Mohammadi M, Robuffo Giordano P, Franchi A. Shared Planning and Control for Mobile Robots with Integral Haptic Feedback. The International Journal of Robotics Research. 2018;37(11):1395-1420.  PDF icon preprint-pdf (16.41 MB)File video-1-hil-simulations (9.17 MB)File video-2-experiments (22.12 MB)File video-3-user-study (23.48 MB)
  18. Faessler M, Franchi A, Scaramuzza D. Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories. IEEE Robotics and Automation Letters. 2018;3(2):620-626.
    Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
    PDF icon preprint-pdf (6.21 MB)File video (10.14 MB)
  19. Franchi A, Carli R, Bicego D, Ryll M. Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force. IEEE Trans. on Robotics. 2018;34(2):534-541.  PDF icon preprint-pdf (3.69 MB)File video-1 (21.32 MB)File video-2 (16.88 MB)File video-3 (4.22 MB)
  21. Delamare Q, Robuffo Giordano P, Franchi A. Towards Aerial Physical Locomotion: the Contact-Fly-Contact Problem. IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation. 2018;3:1514-1521.
    Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
    PDF icon preprint-pdf (654.75 KB)File video (4.26 MB)
  23. Tognon M, Cataldi E, Tello Chavez H, Antonelli G, Cortés J, Franchi A. Control-Aware Motion Planning for Task-Constrained Aerial Manipulation. IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation. 2018;3(3):2478-2484.
    Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
    PDF icon preprint-pdf (5.54 MB)File video (8.07 MB)
  24. 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.  PDF icon preprint-pdf (5.52 MB)File video (21.39 MB)
  25. Tognon M, Gabellieri C, Pallottino L, Franchi A. Aerial Co-Manipulation with Cables: The Role of Internal Force for Equilibria, Stability, and Passivity. IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation. 2018;3(3):2577-2583.
    Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
    PDF icon preprint-pdf (4.84 MB)
  28. Tognon M, Dash SS, Franchi A. Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform. IEEE Robotics and Automation Letters. 2016;1(2):732-737.
    Also selected for presentation at the 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm , Sweden
    PDF icon preprint-pdf (1.42 MB)File video (8.54 MB)
  33. Lee D, Franchi A, Son HI, Bülthoff HH, Robuffo Giordano P. Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles. IEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics. 2013;18(4):1334-1345.  PDF icon preprint-pdf (3.66 MB)
  34. Son HI, Franchi A, Chuang LL, Kim J, Bülthoff HH, Robuffo Giordano P. Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots. IEEE Transactions on Systems, Man, & Cybernetics. Part B: Cybernetics. 2013;43(2):597-609.  PDF icon preprint-pdf (4.95 MB)
  35. Franchi A, Oriolo G, Stegagno P. Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements. The International Journal of Robotics Research. 2013;32(11):1303-1322.  PDF icon preprint-pdf (3.28 MB)File video (5.98 MB)
  36. Robuffo Giordano P, Franchi A, Secchi C, Bülthoff HH. A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance. The International Journal of Robotics Research. 2013;32(3): 299-323.  PDF icon preprint-pdf (3.83 MB)File video1 (9.79 MB)
  37. Franchi A, Secchi C, Ryll M, Bülthoff HH, Robuffo Giordano P. Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs. IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform. 2012;19(3):57-68.  PDF icon preprint-pdf (7.17 MB)
  38. Franchi A, Masone C, Grabe V, Ryll M, Bülthoff HH, Robuffo Giordano P. Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering. The International Journal of Robotics Research, Special Issue on 3D Exploration, Mapping, and Surveillance. 2012;31(12):1504-1525.  PDF icon preprint-pdf (3.81 MB)
  42. Franchi A, Freda L, Oriolo G, Vendittelli M. The Sensor-based Random Graph Method for Cooperative Robot Exploration. IEEE/ASME Transaction on Mechatronics. 2009;14(2):163-175.
    Winner of the IEEE RAS ICYA Best Paper Award 2010  link
    PDF icon preprint-pdf (1.15 MB)

Book Chapters

  1. Franchi A. Interaction Control of Platforms with Multi-directional Total Thrust. In Aerial Robotic Manipulation. Springer; 2019. pp. 175-189.  PDF icon preprint-pdf (2.88 MB)
  2. Franchi A. Platforms with Multi-directional Total Thrust. In Aerial Robotic Manipulation. Springer; 2019. pp. 53-65.  PDF icon preprint-pdf (2.88 MB)
  3. Franchi A. Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots. In Trends in Control and Decision-Making for Human-Robot Collaboration Systems. Springer; 2017. pp. 301-324.  PDF icon preprint-pdf (6.37 MB)
  4. Spedicato S, Notarstefano G, Bülthoff HH, Franchi A. Aggressive Maneuver Regulation of a Quadrotor UAV. In Robotics Research, The 16th International Symposium ISRR. Springer; 2016. pp. 95-112.  PDF icon preprint-pdf (934.12 KB)File video_no_sat (652.65 KB)File video_no_sat_zoom (1005.42 KB)File video_sat_8_5 (748.78 KB)File video_sat_8_5_zoom (1.43 MB)File video_sat_7 (646.52 KB)File video_sat_7_zoom (1.27 MB)
  5. Lächele J, Franchi A, Bülthoff HH, Robuffo Giordano P. SwarmSimX: Real-time Simulation Environment for Multi-robot Systems. In 3rd Int. Conf. on Simulation, Modeling, and Programming for Autonomous Robots. Tsukuba, Japan; 2012.  PDF icon preprint-pdf (1023.48 KB)

Conference Papers

  3. Hamandi M, Tognon M, Franchi A. Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles. In 2020 IEEE Int. Conf. on Robotics and Automation. Paris, France; 2020.  PDF icon preprint-pdf (1.7 MB)File video (16.98 MB)
  4. Jacquet M, Corsini G, Bicego D, Franchi A. Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVs. In 2020 IEEE Int. Conf. on Robotics and Automation. Paris, France; 2020.  File video (21.66 MB)PDF icon preprint-pdf (1.53 MB)
  6. Sarkisov Y, Kim MJ, Bicego D, Tsetserukou D, Ott C, Franchi A, et al.. Development of SAM: cable-Suspended Aerial Manipulator. In 2019 IEEE Int. Conf. on Robotics and Automation. Montreal, Canada; 2019.  PDF icon preprint-pdf (1.43 MB)
  8. 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.  PDF icon preprint-pdf (3.68 MB)File video (11.25 MB)
  9. Morbidi F, Bicego D, Ryll M, Franchi A. Energy-Efficient Trajectory Generation for a Hexarotor with Dual-Tilting Propellers. In 2018 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Madrid, Spain; 2018.  PDF icon preprint-pdf (771.41 KB)
  10. Yang H, Staub N, Franchi A, Lee D. Modeling and Control of Multiple Aerial-Ground Manipulator System with Load Flexibility. In 2018 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Madrid, Spain; 2018.  PDF icon preprint-pdf (2.16 MB)File video (3.71 MB)
  11. Ryll M, Bicego D, Franchi A. A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base. In 12th IFAC Symposium on Robot Control. Budapest, Hungary; 2018.  PDF icon preprint-pdf (995.27 KB)
  12. Walter V, Staub N, Saska M, Franchi A. Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform. In 14th IEEE International Conference on Automation Science and Engineering. Munich, Germany; 2018.  PDF icon preprint-pdf (1.41 MB)File video (11.43 MB)
  13. Robuffo Giordano P, Delamare Q, Franchi A. Trajectory Generation for Minimum Closed-Loop State Sensitivity. In 2018 IEEE Int. Conf. on Robotics and Automation. Brisbane, Australia; 2018. pp. 286-293.  PDF icon preprint-pdf (1.11 MB)File video (3.76 MB)
  14. Furci M, Bicego D, Franchi A. Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms. In 12th IFAC Symposium on Robot Control. Budapest, Hungary; 2018.  PDF icon preprint-pdf (759.54 KB)
  15. Staub N, Bicego D, Sablé Q, Arellano-Quintana V, Mishra S, Franchi A. Towards a Flying Assistant Paradigm: the OTHex. In 2018 IEEE Int. Conf. on Robotics and Automation. Brisbane, Australia; 2018. pp. 6997-7002.  PDF icon preprint-pdf (2.88 MB)File video (9.31 MB)
  16. Gabellieri C, Tognon M, Palottino L, Franchi A. A Study on Force-based Collaboration in Flying Swarms. In 11th Int. Conf. on Swarm Intelligence ANTS 2018. Rome, Italy; 2018.  PDF icon preprint-pdf (6.78 MB)
  17. Solana Y, Furci M, Cortés J, Franchi A. Multi-Robot Path Planning with Maintenance of Generalized Connectivity. In The 1st Int. Symp. on Multi-Robot and Multi-Agent Systems. Los Angeles, CA; 2017.  PDF icon preprint-pdf (2.56 MB)
  18. Staub N, Mohammadi M, Bicego D, Prattichizzo D, Franchi A. Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems. In 2017 IEEE Int. Conf. on Robotics and Automation. Singapore; 2017. pp. 1307-1312.  PDF icon preprint-pdf (4.99 MB)File video (2.77 MB)
  22. Tognon M, Franchi A. Landing and take-off on/from sloped and non-planar surfaces with more than 50 degrees of inclination. In 2017 International Micro Air Vehicle Conference. Toulouse, France; 2017. pp. 97-102.  PDF icon preprint-pdf (3.57 MB)
  23. Tognon M, Yüksel B, Buondonno G, Franchi A. Dynamic Decentralized Control for Protocentric Aerial Manipulators. In 2017 IEEE Int. Conf. on Robotics and Automation. Singapore; 2017. pp. 6375-6380.  PDF icon preprint-pdf (3.63 MB)File video (8.49 MB)
  26. Ryll M, Muscio G, Pierri F, Cataldi E, Antonelli G, Caccavale F, et al.. 6D Physical Interaction with a Fully Actuated Aerial Robot. In 2017 IEEE Int. Conf. on Robotics and Automation. Singapore; 2017. pp. 5190-5195.  PDF icon preprint-pdf (3.04 MB)File video (9.52 MB)
  28. Michieletto G, Cenedese A, Franchi A. Bearing Rigidity Theory in SE(3). In 55th IEEE Conference on Decision and Control. Las Vegas, NV; 2016. pp. 5950-5955.  PDF icon 2016o-MicCenFra-preprint.pdf (204.99 KB)
  29. Tognon M, Testa A, Rossi E, Franchi A. Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot. In 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Daejeon, South Korea; 2016. pp. 1702-1707.  PDF icon preprint-pdf (974.21 KB)File video (28.46 MB)
  30. Mohammadi M, Franchi A, Barcelli D, Prattichizzo D. Cooperative Aerial Tele-Manipulation with Haptic Feedback. In 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 5092-5098.  PDF icon preprint-pdf (2.51 MB)File video (4.03 MB)
  32. Schiano F, Franchi A, Zelazo D, Robuffo Giordano P. A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs. In 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 5099-5106.  PDF icon preprint-pdf (2.99 MB)File video (4.05 MB)
  33. Petitti A, Franchi A, Di Paola D, Rizzo A. Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators. In 2016 IEEE Int. Conf. on Robotics and Automation. Stockholm, Sweden; 2016. pp. 441-446.  PDF icon preprint-pdf (1.19 MB)File video (2.9 MB)
  34. Yüksel B, Staub N, Franchi A. Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments. In 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 1667-1672.  PDF icon preprint-pdf (482.67 KB)
  35. Spedicato S, Franchi A, Notarstefano G. From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots. In 2016 IEEE Int. Conf. on Robotics and Automation. Stockholm, Sweden; 2016. pp. 2965-2970.  PDF icon preprint-pdf (1.58 MB)File video (9.15 MB)
  36. Yüksel B, Buondonno G, Franchi A. Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-Joints. In 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 561-566.  PDF icon preprint-pdf (1.94 MB)PDF icon tech_report-pdf (1015.82 KB)File video (5.4 MB)
  37. Ryll M, Bicego D, Franchi A. Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor. In 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 1689-1694.  PDF icon preprint-pdf (952.56 KB)File video (22.85 MB)
  38. Gioioso G, Mohammadi M, Franchi A, Prattichizzo D. A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment. In 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 318-324.  PDF icon preprint-pdf (5.77 MB)File video (9.13 MB)
  39. Tognon M, Franchi A. Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots. In 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Hamburg, Germany; 2015. pp. 1852-1857.  PDF icon preprint-pdf (1.45 MB)File video (8.31 MB)
  41. Tognon M, Franchi A. Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots. In 14th European Control Conference. Linz, Austria; 2015. pp. 1620-1625.  PDF icon preprint-pdf (307.59 KB)
  42. Tognon M, Franchi A. Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements. In 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 3994-3999.  PDF icon preprint-pdf (224.15 KB)File video (8.84 MB)
  44. Rajappa S, Ryll M, Bülthoff HH, Franchi A. Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers. In 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 4006-4013.  PDF icon preprint-pdf (2.14 MB)File video (8.98 MB)
  45. Staub N, Franchi A. Battery-aware Dynamical Modeling and Identification for the Total Thrust in Multi-rotor UAVs using only an Onboard Accelerometer. In 2015 IEEE Int. Conf. on Robotics and Automation. Seattle, WA; 2015. pp. 3341-3346.  PDF icon preprint-pdf (779.35 KB)File video (8.85 MB)
  46. Zelazo D, Robuffo Giordano P, Franchi A. Bearing-Only Formation Control Using an SE(2) Rigidity Theory. In 54rd IEEE Conference on Decision and Control. Osaka, Japan; 2015. pp. 6121-6126.  PDF icon preprint-pdf (1.61 MB)
  47. Stegagno P, Basile M, Bülthoff HH, Franchi A. A Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback. In 2014 IEEE Int. Conf. on Robotics and Automation. Hong Kong, China; 2014. pp. 3862-3869.  PDF icon preprint-pdf (1.63 MB)File video (9.59 MB)
  48. Yüksel B, Secchi C, Bülthoff HH, Franchi A. Reshaping the Physical Properties of a Quadrotor through IDA-PBC and its Application to Aerial Physical Interaction. In 2014 IEEE Int. Conf. on Robotics and Automation. Hong Kong, China; 2014. pp. 6258-6265.  PDF icon preprint-pdf (553.49 KB)File video (7.15 MB)
  49. Gagliardi M, Oriolo G, Bülthoff HH, Franchi A. Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs. In 2014 European Control Conference. Strasbourg, France; 2014. pp. 1902-1908.  PDF icon preprint-pdf (1.82 MB)File video (13.1 MB)
  50. Zelazo D, Franchi A, Robuffo Giordano P. Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing. In 2014 European Control Conference. Strasbourg, France; 2014. pp. 2703-2708.  PDF icon preprint-pdf (410.91 KB)
  51. Gioioso G, Franchi A, Salvietti G, Scheggi S, Prattichizzo D. The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation. In 2014 IEEE Int. Conf. on Robotics and Automation. Hong Kong, China; 2014. pp. 4335-4341.  PDF icon preprint-pdf (2.89 MB)File video (4.44 MB)
  52. Franchi A, Petitti A, Rizzo A. Distributed Estimation of the Inertial Parameters of an Unknown Load via Multi-Robot Manipulation. In 53rd IEEE Conference on Decision and Control. Los Angeles, CA; 2014. pp. 6111-6116.  PDF icon preprint-pdf (1.13 MB)
  53. Gioioso G, Ryll M, Prattichizzo D, Bülthoff HH, Franchi A. Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector. In 2014 IEEE Int. Conf. on Robotics and Automation. Hong Kong, China; 2014. pp. 6278-6284.  PDF icon preprint-pdf (1.2 MB)File video (8.81 MB)
  54. Tokekar P, Isler V, Franchi A. Multi-Target Visual Tracking with UAVs. In 2014 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Chicago, IL; 2014. pp. 656-661.  PDF icon preprint-pdf (499.72 KB)
  55. Masone C, Robuffo Giordano P, Bülthoff HH, Franchi A. Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control. In 2014 IEEE Int. Conf. on Robotics and Automation. Hong Kong, China; 2014. pp. 6468-6475.  PDF icon preprint-pdf (3.45 MB)File video (9.23 MB)
  56. Yüksel B, Secchi C, Bülthoff HH, Franchi A. A Nonlinear Force Observer for Quadrotors and Application to Physical Interactive Tasks. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Besançon, France; 2014. pp. 433-440.  PDF icon preprint-pdf (1.11 MB)
  58. Franchi A. Towards Autonomous-collaborative and Haptic-tele-operated UAVs with Fully-onboard State Estimation and Physical Interaction Capabilities. In 2013 IROS Work. on From Remotely-Controlled to Autonomous-Collaborative Robots. Tokyo, Japan; 2013. 
  59. Stegagno P, Basile M, Bülthoff HH, Franchi A. RGB-D based Haptic Teleoperation of UAVs with Onboard Sensors: Development and Preliminary Results. In 2013 IROS Work. on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments. Tokyo, Japan; 2013. 
  60. Spica R, Robuffo Giordano P, Ryll M, Bülthoff HH, Franchi A. An Open-Source Hardware/Software Architecture for Quadrotor UAVs. In 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems. Compiegne, France; 2013.  PDF icon preprint-pdf (1.24 MB)
  61. Secchi C, Franchi A, Bülthoff HH, Robuffo Giordano P. Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation. In 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany; 2013.  PDF icon preprint-pdf (1.95 MB)File video (4.73 MB)
  62. Stegagno P, Basile M, Bülthoff HH, Franchi A. Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation. In 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems. Compiegne, France; 2013.  PDF icon preprint-pdf (1.37 MB)
  63. Antonelli G, Cataldi E, Robuffo Giordano P, Chiaverini S, Franchi A. Experimental Validation of a New Adaptive Control for Quadrotors. In 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Tokyo, Japan; 2013.  PDF icon preprint-pdf (943.33 KB)
  64. Spica R, Franchi A, Oriolo G, Bülthoff HH, Robuffo Giordano P. Aerial Grasping of a Moving Target with a Quadrotor UAV. In 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Vilamoura, Portugal; 2012. pp. 4985-4992.  PDF icon preprint-pdf (2.12 MB)File video (7.13 MB)
  65. Franchi A, Robuffo Giordano P. Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements. In 51th IEEE Conference on Decision and Control . Maui, HI; 2012. pp. 5310-5317.  PDF icon preprint-pdf (798.4 KB)
  66. Secchi C, Franchi A, Bülthoff HH, Robuffo Giordano P. Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology. In 2012 IEEE Int. Conf. on Robotics and Automation. St. Paul, MN; 2012.  PDF icon preprint-pdf (1.46 MB)File video (4.01 MB)
  67. Riedel M, Franchi A, Bülthoff HH, Robuffo Giordano P, Son HI. Experiments on Intercontinental Haptic Control of Multiple UAVs. In 12th Int. Conf. on Intelligent Autonomous Systems. Jeju Island, Korea; 2012. pp. 227-238.  PDF icon preprint-pdf (1.49 MB)File video (10.01 MB)
  68. Zelazo D, Franchi A, Allgöwer F, Bülthoff HH, Robuffo Giordano P. Rigidity Maintenance Control for Multi-Robot Systems. In 2012 Robotics: Science and Systems Conference. Sydney, Australia; 2012.  PDF icon preprint-pdf (2.47 MB)
  69. Cognetti M, Stegagno P, Franchi A, Oriolo G. Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems. In 2nd IFAC Workshop on Multivehicle Systems. Espoo, Finland; 2012.  PDF icon preprint-pdf (1.09 MB)
  70. Cognetti M, Stegagno P, Franchi A, Oriolo G, Bülthoff HH. 3D Mutual Localization with Anonymous Bearing Measurements. In 2012 IEEE Int. Conf. on Robotics and Automation. St. Paul, MN; 2012.  PDF icon preprint-pdf (1.87 MB)
  71. Masone C, Franchi A, Bülthoff HH, Robuffo Giordano P. Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots. In 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Vilamoura, Portugal; 2012. pp. 2641-2648.  PDF icon preprint-pdf (2.15 MB)File video (9.02 MB)
  72. Franchi A, Bülthoff HH, Robuffo Giordano P. Distributed Online Leader Selection in the Bilateral Teleoperation of Multiple UAVs. In 50th IEEE Conference on Decision and Control . Orlando, FL; 2011. pp. 3559-3565.  PDF icon preprint-pdf (1.2 MB)
  73. Franchi A, Masone C, Bülthoff HH, Robuffo Giordano P. Bilateral Teleoperation of Multiple UAVs with Decentralized Bearing-only Formation Control. In 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. San Francisco, CA; 2011. pp. 2215-2222.  PDF icon preprint-pdf (1.14 MB)File video (8.23 MB)
  74. Robuffo Giordano P, Franchi A, Secchi C, Bülthoff HH. Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance. In 2011 Robotics: Science and Systems Conference. Los Angeles, CA; 2011.  PDF icon preprint-pdf (1.8 MB)File video (14.5 MB)
  75. Robuffo Giordano P, Franchi A, Secchi C, Bülthoff HH. Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization. In 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. San Francisco, CA; 2011. pp. 163-170.  PDF icon preprint-pdf (1.45 MB)File video (4.76 MB)
  77. Stegagno P, Cognetti M, Franchi A, Oriolo G. Mutual Localization using Anonymous Bearing Measurements. In 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. San Francisco, CA; 2011. pp. 469-474.  PDF icon preprint-pdf (1.24 MB)File video (4.73 MB)
  78. Franchi A, Robuffo Giordano P, Secchi C, Son HI, Bülthoff HH. A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology. In 2011 IEEE Int. Conf. on Robotics and Automation. Shanghai, China; 2011. pp. 898-905.  PDF icon preprint-pdf (870.58 KB)File video (4.84 MB)
  79. Son HI, Chuang LL, Franchi A, Kim J, Lee D, Lee S-W, et al.. Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots. In 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. San Francisco, CA; 2011. pp. 3039-3046.  PDF icon preprint-pdf (1.2 MB)
  80. Lee D, Franchi A, Robuffo Giordano P, Son HI, Bülthoff HH. Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet. In 2011 IEEE Int. Conf. on Robotics and Automation. Shanghai, China; 2011. pp. 1341-1347.  PDF icon preprint-pdf (1.34 MB)File video (4.92 MB)
  81. Franchi A, Oriolo G, Stegagno P. Probabilistic Mutual Localization in Multi-agent Systems from Anonymous Position Measures. In 49th IEEE Conference on Decision and Control. Atlanta, GA, USA; 2010. pp. 6534-6540.  PDF icon pdf (1.26 MB)
  82. Franchi A, Oriolo G, Stegagno P. On the Solvability of the Mutual Localization Problem with Anonymous Position Measures. In 2010 IEEE Int. Conf. on Robotics and Automation. Anchorage, AK; 2010. pp. 3193-3199.  PDF icon pdf (836.33 KB)File video (3.03 MB)
  83. Franchi A, Stegagno P, Di Rocco M, Oriolo G. Distributed Target Localization and Encirclement with a Multi-robot System. In 7th IFAC Symposium on Intelligent Autonomous Vehicles. Lecce, Italy; 2010.  PDF icon pdf (929.67 KB)
  84. Durham JW, Franchi A, Bullo F. Distributed Pursuit-Evasion with Limited-Visibility Sensor Via Frontier-based Exploration. In 2010 IEEE Int. Conf. on Robotics and Automation. Anchorage, AK; 2010. pp. 3562-3568.  PDF icon pdf (1.03 MB)File video (2.95 MB)
  85. Pasqualetti F, Franchi A, Bullo F. On Optimal Cooperative Patrolling. In 49th IEEE Conference on Decision and Control. Atlanta, GA, USA; 2010. pp. 7153-7158.  PDF icon pdf (465.44 KB)
  86. Franchi A, Oriolo G, Stegagno P. Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures. In 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. St. Louis, MO; 2009. pp. 3974-3980.  PDF icon pdf (1.93 MB)File video (3.52 MB)
  87. Franchi A, Freda L, Marchionni L, Oriolo G, Vendittelli M. Decentralized cooperative exploration: Implementation and experiments. In 10th Int. Conf. on Intelligent Autonomous Systems. Baden-Baden, Germany; 2008. pp. 348-355.  PDF icon pdf (634.37 KB)
  88. Franchi A, Freda L, Oriolo G, Vendittelli M. A Randomized Strategy for Cooperative Robot Exploration. In 2007 IEEE Int. Conf. on Robotics and Automation. Rome, Italy; 2007. pp. 768-774.  PDF icon pdf (802.55 KB)
  89. Franchi A, Freda L, Oriolo G, Vendittelli M. A decentralized strategy for cooperative robot exploration. In ACM International Conference Proceeding Series, Proceedings of the 1st international conference on Robot communication and coordination. Athens, Greece; 2007.  PDF icon pdf (2.67 MB)

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Education

Courses:

  • Control of Multiple Robotic Systems (Sapienza, Master) 2016-17 until 2018-19
  • Control Engineering (UT Bachelor) from 2020-21 until today
  • Control of UAVs (UT, Master) from 2020-21 until today

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Currently Advised People:

PhD Students

Visiting and Collaborating PhD Students

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Alumni

PhD Students
PostDocs

Visiting and Collaborating PhD Students

 

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    Courses Academic Year  2023/2024

    Courses in the current academic year are added at the moment they are finalised in the Osiris system. Therefore it is possible that the list is not yet complete for the whole academic year.
     

    Courses Academic Year  2022/2023

    Projects


    My role Period
    EU H2020 Aerial-CORE

    The Aerial-CORE project aims at developing novel aerial manipulating robotics technologies for the inspection and maintenance of infrastructures in strict collaboration with human workers.

    		 Local Coordinator for the University of Twente 2019-2023
    ANR JCJC MuRoPhen

    The objective of this research project is to deeply investigate the problem of monitoring a dynamic phenomenon using a team of multiple mobile robots. The sensor-equipped robots will have the task of tracking and registering the phenomenon, and storing its evolution through a stream of data. In the system we envision, the robots will mutually localize themselves, autonomously control their own motion, and cooperatively perform the task at hand in an effective, reliable and safe manner.

    		 Coordinator 2018-2022
    ANR The Flying Coworker

    The goal of the Flying Co-Worker project is to extend the capabilities of aerial manipulators and make them able to physically interact with human workers a active in elevated places. We investigate this problem at three levels:
    1) mechatronics design, 2) safe, robust, and predictive control and perception algorithms 3) human-robot interaction and collaboration.

    		 Ideator and Principal Investigator 2019-2022
    LAAS-CNRS MBZIRC 2020

    The goal of this project is inspired by applications related to construction. In this project, a heterogeneous team of UAVs and Unmanned Ground Vehicles (UGVs) have to cooperatively build a pre-defined structure based on different types of brick-shaped objects that have to be autonomously located, picked, transported and assembled.

    		 Coordinator 2018-2020
    FlyCrane

    The goal of this project is join parallel/cable-driven robots and aerial robots with the conception, development and outdoor demonstration of a multi-robot aerial system capable of cooperative manipulate large objects using multiple cables.

    		 Co-coordinator 2019-2020
    EU H2020 AEROARMS

    The goal of the AeRoArms project is developing an aerial robotic system with multiple arms and advanced manipulation capabilities for application in industrial inspection and maintenance.

    		 Local Coordinator for LAAS-CNRS 2015 - 2019 (4y)
    FIRE-RS

    FireRS (acronym for wildFIRE Remote Sensing) aims to provide to fire managers and/or coordination centers a innovative tool for early detection and wildfire management via remote sensing improving the current state-of-art.

    		 Participant 2016 - 2019 (3y)
    EU H2020 ARCAS

    The ARCAS project proposes the development and experimental validation of the first cooperative free-flying robot system for assembly and structure construction.

    		 Participant 2011-2015

    Contact Details

    +31534892626  (secretary)
     
     

    Visiting Address

    University of Twente
    Faculty of Electrical Engineering, Mathematics and Computer Science
    Carré (building no. 15), room C3609
    Hallenweg 21
    7522NH  Enschede
    The Netherlands

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    Mailing Address

    University of Twente
    Faculty of Electrical Engineering, Mathematics and Computer Science
    Carré  C3609
    P.O. Box 217
    7500 AE Enschede
    The Netherlands

    Organisations

    University of Twente Drienerlolaan 5
    7522 NB Enschede
    +31 (0)53 489 9111
    info@utwente.nl
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