@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}
}
@conference {9571051,
	title = {Understanding the omnidirectional capability of a generic multi-rotor aerial vehicle},
	booktitle = {2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)},
	year = {2021},
	month = {2021/10},
	doi = {10.1109/AIRPHARO52252.2021.9571051},
	author = {Hamandi, Mahmoud and Sable, Quentin and Tognon, Marco and Franchi, Antonio}
}
@conference {76,
	title = {Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles},
	booktitle = {2020 IEEE Int. Conf. on Robotics and Automation},
	year = {2020},
	month = {2020/06},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Paris, France},
	abstract = {<p>\&nbsp;In this paper we propose to control a quadrotor through direct acceleration feedback. The proposed method, while simple in form, alleviates the need for accurate estimation of platform parameters such as mass and propeller effectiveness. In order to use efficaciously the noisy acceleration measurements in direct feedback, we propose a novel regressionbased filter that exploits the knowledge on the commanded propeller speeds, and extracts smooth platform acceleration with minimal delay. Our tests show that the controller exhibits a few millimeter error when performing real world tasks with fast changing mass and effectiveness, e.g., in pick and place operation and in turbulent conditions. Finally, we benchmark the direct acceleration controller against the PID strategy and show the clear advantage of using high-frequency and low-latency acceleration measurements directly in the control feedback, especially in the case of low frequency position measurements that are typical for real outdoor conditions.</p>},
	author = {Mahmoud Hamandi and Marco Tognon and Antonio Franchi}
}
@conference {96,
	title = {Omni-Plus-Seven (O 7 + ): An Omnidirectional Aerial Prototype with Minimal Uni-directional Thrusters},
	booktitle = {2020 International Conference on Unmanned Aircraft Systems (ICUAS)},
	year = {2020},
	month = {2020/09},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Athens, Greece},
	abstract = {<p>The aim of this paper is to present the design of a novel omnidirectional Unmanned Aerial Vehicle (UAV) with seven uni-directional thrusters, O 7 +. The paper formally defines the O + design for a generic number of propellers and presents its necessary conditions; then it illustrates a method to optimize the placement and orientation of the platform{\textquoteright}s propellers to achieve a balanced O + design. The paper then details the choice of the parameters of the O 7 + UAV, and highlights the required mechanical and electrical components. The resultant platform is tested in simulation, before being implemented as a prototype. The prototype is firstly static-bench tested to match its nominal and physical models, followed by hovering tests in multiple orientations. The presented prototype shows the ability to fly horizontally, upside down and at a tilted angle.</p>},
	author = {Mahmoud Hamandi and Kapil Sawant and Marco Tognon and Antonio Franchi}
}
