02. Research Frequencies
My work integrates rigorous control theory with real-world robotic systems, focusing on scenarios involving physical interaction, uncertainty, and human presence.
I. Aerial Robots in Physical Interaction
Human–robot interaction, contact, force control, and aerial manipulation. Going beyond free flight to enable robots to physically interact with the environment.
Past, Present, and Future of Aerial Robotic Manipulators
A. Ollero; M. Tognon; A. Suárez; D. Lee; A. Franchi
IEEE Trans. Robot., 2021
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6D Interaction Control with Aerial Robots: The Flying End‑Effector Paradigm
M. Ryll; G. Muscio; F. Pierri; E. Cataldi; G. Antonelli; F. Caccavale; D. Bicego; A. Franchi
Int. J. Robot. Res., 2019
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Energy‑Aware Impedance Control of a Flying End‑Effector in the Port‑Hamiltonian Framework
R. Rashad; D. Bicego; J. Zult; S. Sanchez‑Escalonilla; R. Jiao; A. Franchi; S. Stramigioli
IEEE Trans. Robot., 2022
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Predictive Admittance Control for Aerial Physical Interaction
A. Alharbat; C. Gabellieri; A. Y. Mersha; A. Franchi
IEEE Robot. Autom. Lett., 2025
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Aerial Physical Interaction via IDA‑PBC
B. Yüksel; C. Secchi; H. H. Bülthoff; A. Franchi
Int. J. Robot. Res., 2019
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II. Cooperative Aerial Manipulation & Cable Systems
Teams of aerial robots cooperatively manipulating objects via cables. Dynamic modeling, internal‑force regulation, and nonlinear predictive control.
Agile and Cooperative Aerial Manipulation of a Cable‑Suspended Load
S. Sun; X. Wang; D. Sanalitro; A. Franchi; M. Tognon; J. Alonso‑Mora
Science Robotics, 2025
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Aerial Robots Carrying Flexible Cables: Dynamic Shape Optimal Control via Spectral Method Model
Y. Shen; A. Franchi; C. Gabellieri
IEEE Trans. Robot., 2025
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Full‑Pose Manipulation Control of a Cable‑Suspended Load With Multiple UAVs Under Uncertainties
D. Sanalitro; H. J. Savino; M. Tognon; J. Cortés; A. Franchi
IEEE Robot. Autom. Lett., 2020
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Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars
M. Tognon; A. Franchi
IEEE Trans. Robot., 2017
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Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty
C. Gabellieri; M. Tognon; D. Sanalitro; A. Franchi
IEEE Trans. Robot., 2023
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III. Morphing, Fully‑Actuated & Fault‑Tolerant Platforms
Design, actuation taxonomy, redundancy, and resilience. Vehicles with omnidirectional thrust and morphing geometries.
Fundamental Actuation Properties of Multirotors: Force–Moment Decoupling and Fail‑Safe Robustness
G. Michieletto; M. Ryll; A. Franchi
IEEE Trans. Robot., 2018
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Design of Multirotor Aerial Vehicles: A Taxonomy Based on Input Allocation
M. Hamandi; F. Usai; Q. Sablé; N. Staub; M. Tognon; A. Franchi
Int. J. Robot. Res., 2021
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FAST‑Hex — A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation
M. Ryll; D. Bicego; M. Giurato; M. Lovera; A. Franchi
IEEE/ASME Trans. Mechatronics, 2022
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A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure
E. Baskaya; M. Hamandi; M. Bronz; A. Franchi
IEEE Robot. Autom. Lett., 2021
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Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Analysis, Optimal Design, and Motion Control
M. Tognon; A. Franchi
IEEE Robot. Autom. Lett., 2018
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IV. Geometric & Nonlinear Control
Manifold‑based control, underactuation, and nonlinear MPC. Coordinate‑free methods for systems evolving on SO(3) and SE(3).
Unified Feedback Linearization for Nonlinear Systems With Dexterous and Energy‑Saving Modes
M. Mizzoni; P. van Goor; A. Franchi
IEEE Control Syst. Lett., 2025
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Experimental Validation of Sensitivity‑Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty
A. Srour; A. Franchi; P. Robuffo Giordano; M. Cognetti
IEEE Robot. Autom. Lett., 2024
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Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories
M. Faessler; A. Franchi; D. Scaramuzza
IEEE Robot. Autom. Lett., 2018
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Full‑Pose Tracking Control for Aerial Robotic Systems With Laterally‑Bounded Input Force
A. Franchi; R. Carli; D. Bicego; M. Ryll
IEEE Trans. Robot., 2018
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Hierarchical Nonlinear Control for Multi‑Rotor Asymptotic Stabilization Based on Zero‑Moment Direction
G. Michieletto; A. Cenedese; L. Zaccarian; A. Franchi
Automatica, 2020
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V. Multi‑Robot Systems: Coordination & Connectivity
Decentralized control, rigidity theory, formations, and localization. Cooperation under limited communication and sensing.
Online Leader Selection for Collective Tracking and Formation Control: The Second‑Order Case
A. Franchi; P. Robuffo Giordano; G. Michieletto
IEEE Trans. Control Netw. Syst., 2019
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Decentralized rigidity maintenance control with range measurements for multi-robot systems
D. Zelazo; A. Franchi; H. H. Bülthoff; P. Robuffo Giordano
Int. J. Robot. Res., 2015
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Mutual Localization in Multi‑Robot Systems Using Anonymous Relative Measurements
A. Franchi; G. Oriolo; P. Stegagno
Int. J. Robot. Res., 2013
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VI. Human–Robot Interaction & Teleoperation
Haptics, shared autonomy, and safety. Human‑in‑the‑loop robotic systems combined with passivity‑based control.
Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs
A. Franchi; C. Secchi; M. Ryll; H. H. Bülthoff; P. Robuffo Giordano
IEEE Robot. Autom. Mag., 2012
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Towards Safe Human–Quadrotor Interaction: Mixed‑Initiative Control via Real‑Time NMPC
B. B. Carlos; A. Franchi; G. Oriolo
IEEE Robot. Autom. Lett., 2021
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Bilateral Teleoperation of Groups of Mobile Robots with Time‑Varying Topology
A. Franchi; C. Secchi; H. I. Son; H. H. Bülthoff; P. Robuffo Giordano
IEEE Trans. Robot., 2012
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Human‑Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots
H. I. Son; A. Franchi; L. L. Chuang; J. Kim; H. H. Bülthoff; P. Robuffo Giordano
IEEE Trans. Cybern., 2013
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[View Full Bibliography on Google Scholar]
04. Community & Mentorship
Science is a collective endeavor. Since 2010, I have had the privilege of mentoring:
* 12 Postdoctoral Fellows
* 16 Graduated PhDs (8 now in tenured academic positions)
* 7 Current PhD Candidates
* 100+ M.Sc. Theses
Service to the Field:
* IEEE RAS Tech Committee on Multiple Robot Systems (Co-Founder)
* Senior Editor: IJRR, IEEE ICRA
* Associate Editor: IEEE T-RO, IEEE RA-M
