Pubblicazioni

Full-Pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles With Limited Actuation Abilities

2023 - IEEE ROBOTICS AND AUTOMATION LETTERS
Hamandi, M; Al-Ali, I; Seneviratne, L; Franchi, A; Zweiri, Y

Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC

2021 - IEEE ROBOTICS AND AUTOMATION LETTERS
Barros Carlos, B.; Franchi, A.; Oriolo, G.

A novel robust hexarotor capable of static hovering in presence of propeller failure

2021 - IEEE ROBOTICS AND AUTOMATION LETTERS
Baskaya, E.; Hamandi, M.; Bronz, M.; Franchi, A.

Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles

2021 - IEEE ROBOTICS AND AUTOMATION LETTERS
Jacquet, M.; Franchi, A.

Optimal tuning of the lateral-dynamics parameters for aerial vehicles with bounded lateral force

2021 - IEEE ROBOTICS AND AUTOMATION LETTERS
Horla, D.; Hamandi, M.; Giernacki, W.; Franchi, A.

Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories

2018 - IEEE ROBOTICS AND AUTOMATION LETTERS
Faessler, M.; Franchi, A.; Scaramuzza, D.

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