@article {128,
	title = {Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation},
	journal = {International Journal of Robotics Research},
	volume = {40},
	year = {2021},
	month = {2021/05},
	pages = {1015-1044},
	chapter = {1015},
	doi = {10.1177/02783649211025998},
	author = {Mahmoud Hamandi and Federico Usai and Quentin Sabl{\'e} and Nicolas Staub and Marco Tognon and Antonio Franchi}
}
@article {74,
	title = {Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators},
	journal = {IEEE Robotics and Automation Letters},
	volume = {5},
	year = {2020},
	month = {2019/12},
	pages = {331-338},
	abstract = {<p>In this letter we present an optimization-based method for controlling aerial manipulators in physical contact with the environment. The multi-task control problem, which includes hybrid force-motion tasks, energetic tasks, and position/postural tasks, is recast as a quadratic programming problem with equality and inequality constraints, which is solved online. Thanks to this method, the aerial platform can be exploited at its best to perform the multi-objective tasks, with tunable priorities, while hard constraints such as contact maintenance, friction cones, joint limits, maximum and minimum propeller speeds are all respected. An on-board force/torque sensor mounted at the end effector is used in the feedback loop in order to cope with model inaccuracies and reject external disturbances. Real experiments with a multi-rotor platform and a multi-DoF lightweight manipulator demonstrate the applicability and effectiveness of the proposed approach in the real world.</p>},
	keywords = {aerial physical interaction, aerial systems: mechanics and control, force control, force feedback, hybrid force-motion tasks, multitask control problem, position control, quadratic programming},
	issn = {2377-3766},
	doi = {10.1109/LRA.2019.2958473},
	author = {Gabriele Nava and Quentin Sabl{\'e} and Marco Tognon and Daniele Pucci and Antonio Franchi}
}
@article {71,
	title = {A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants},
	journal = {IEEE Robotics and Automation Letters},
	volume = {4},
	year = {2019},
	month = {01/2019},
	pages = {1846-1851},
	abstract = {<p>We present the design, motion planning, and control of an aerial manipulator for non-trivial physical interaction tasks, such as pushing while sliding on curved surfaces-a task which is motivated by the increasing interest in autonomous non-destructive tests for industrial plants. The proposed aerial manipulator consists of a multidirectional-thrust aerial vehicle-to enhance physical interaction capabilities-endowed with a 2-DoFs lightweight arm-to enlarge its workspace. This combination makes it a trulyredundant manipulator going beyond standard aerial manipulators based on collinear multirotor platforms. The controller is based on a PID method with a {\textquotedblleft}displaced{\textquotedblright} positional part that ensures asymptotic stability despite the arm elasticity. A kinodynamic task-constrained and control-aware global motion planner is used. Experiments show that the proposed aerial manipulator system, equipped with an Eddy current probe, is able to scan a metallic pipe sliding the sensor over its surface and preserving the contact. From the measures, a weld on the pipe is successfully detected and mapped.</p>},
	keywords = {aerial manipulator, contact-based inspection, dexterous manipulators, motion control, motion planning},
	issn = {2377-3766},
	doi = {10.1109/LRA.2019.2895880},
	author = {Marco Tognon and Hermes A. Tello-Chavez and Enrico Gasparin and Quentin Sabl{\'e} and Davide Bicego and Anthony Mallet and Marc Lany and Gilles Santi and Bernard Revaz and Juan Cort{\'e}s and Antonio Franchi}
}
