@article {mellet:hal-05313710,
	title = {Evaluation of Human-Robot Interfaces based on 2D/3D Visual and Haptic Feedback for Aerial Manipulation},
	journal = {Journal of Intelligent and Robotic Systems},
	volume = {111},
	year = {2025},
	pages = {104},
	keywords = {Aerial manipulation, aerial physical interaction, Haptic, Mixed Reality, Multimodal, Teleoperation},
	doi = {10.1007/s10846-025-02284-7},
	url = {https://hal.science/hal-05313710},
	author = {Mellet, Julien and Allenspach, Mike and Cuniato, Eugenio and Pacchierotti, Claudio and Siegwart, Roland and Tognon, Marco}
}
@article {10558713,
	title = {Controlled Shaking of Trees With an Aerial Manipulator},
	journal = {IEEE/ASME Transactions on Mechatronics},
	year = {2024},
	month = {2024/06},
	pages = {1-12},
	keywords = {aerial physical interaction, aerial robotics, autonomous aerial vehicles, control for manipulation, control of flexible elements, controlled shaking, Manipulators, Oscillators, Potential energy, Task analysis, Vegetation, Vibrations},
	doi = {10.1109/TMECH.2024.3410167},
	author = {Gonz{\'a}lez-Morgado, Antonio and Cuniato, Eugenio and Tognon, Marco and Heredia, Guillermo and Siegwart, Roland and Ollero, An{\'\i}bal}
}
@article {10428092,
	title = {Geranos: A Novel Tilted-Rotors Aerial Robot for the Transportation of Poles},
	journal = {IEEE Robotics \& Automation Magazine},
	volume = {31},
	year = {2024},
	month = {2024/02},
	pages = {66-77},
	keywords = {autonomous aerial vehicles, Autonomous robots, Grippers, Helicopters, Load management, Mechanical cables, Payloads, Task analysis, Transportation},
	doi = {10.1109/MRA.2023.3348306},
	author = {Bamert, Samuel and Cathomen, Rafael and Gorlo, Nicolas and K{\"a}ppeli, Gabriel and M{\"u}ller, Mario Sven and Reinhart, Tim and Stadler, Henriette and Shen, Hua and Cuniato, Eugenio and Tognon, Marco and Siegwart, Roland}
}
@conference {10156426,
	title = {Design and Evaluation of a Mixed Reality-based Human-Robot Interface for Teleoperation of Omnidirectional Aerial Vehicles},
	booktitle = {2023 International Conference on Unmanned Aircraft Systems (ICUAS)},
	year = {2023},
	month = {2023/06},
	doi = {10.1109/ICUAS57906.2023.10156426},
	author = {Allenspach, Mike and K{\"o}tter, Till and B{\"a}hnemann, Rik and Tognon, Marco and Siegwart, Roland}
}
@conference {10156414,
	title = {Design of PrisMAV: An Omnidirectional Aerial Manipulator based on a 3-PUU Parallel Mechanism},
	booktitle = {2023 International Conference on Unmanned Aircraft Systems (ICUAS)},
	year = {2023},
	month = {2023/06},
	doi = {10.1109/ICUAS57906.2023.10156414},
	author = {Rubio, Matthias and N{\"a}f, Joshua and B{\"u}hlmann, Franz and Brigger, Philippe and H{\"u}sser, Moritz and Inauen, Martin and Ospelt, Nicole and Gisler, Daniel and Tognon, Marco and Siegwart, Roland}
}
@conference {10156523,
	title = {Mixed Reality Human-Robot Interface to Generate and Visualize 6DoF Trajectories: Application to Omnidirectional Aerial Vehicles},
	booktitle = {2023 International Conference on Unmanned Aircraft Systems (ICUAS)},
	year = {2023},
	month = {2023/06},
	doi = {10.1109/ICUAS57906.2023.10156523},
	author = {Allenspach, Mike and Laasch, Severin and Lawrance, Nicholas and Tognon, Marco and Siegwart, Roland}
}
@article {20.500.11850/627309,
	title = {Multi-directional Interaction Force Control with an Aerial Manipulator under External Disturbances},
	journal = {Autonomous Robots},
	year = {2023},
	month = {2023/07},
	type = {Journal Article},
	abstract = {<p>To improve accuracy and robustness of interactive aerial robots, the knowledge of the forces acting on the platform is of uttermost importance. The robot should distinguish interaction forces from external disturbances in order to be compliant with the firsts and reject the seconds. This represents a challenge since disturbances might be of different nature (physical contact, aerodynamic, modeling errors) and be applied to different points of the robot. This work presents a new extended Kalman filter (EKF) based estimator for both external disturbance and interaction forces. The estimator fuses information coming from the system{\textquoteright}s dynamic model and it{\textquoteright}s state with wrench measurements coming from a Force-Torque (FT) sensor. This allows for robust interaction control at the tool{\textquoteright}s tip even in presence of external disturbance wrenches acting on the platform. We employ the filter estimates in a novel hybrid force/motion controller to perform force tracking not only along the tool direction, but from any platform{\textquoteright}s orientation, without losing the stability of the pose controller. The proposed framework is extensively tested on an omnidirectional aerial manipulator (AM) performing push and slide operations and transitioning between different interaction surfaces, while subject to external disturbances. The experiments are done equipping the aerial manipulator (AM) with two different tools: a rigid interaction stick and an actuated delta manipulator, showing the generality of the approach. Moreover, the estimation results are compared to a state-of-the-art momentum-based estimator, clearly showing the superiority of the extended Kalman filter (EKF) approach.</p>},
	issn = {0929-5593},
	doi = {10.3929/ethz-b-000627309},
	author = {Malczyk, Grzegorz and Brunner, Maximilian and Cuniato, Eugenio and Tognon, Marco and Siegwart, Roland}
}
@article {klemm2023non,
	title = {Non-Smooth Trajectory Optimization for Wheeled Balancing Robots with Contact Switches and Impacts},
	journal = {IEEE Transactions on Robotics},
	year = {2023},
	month = {2024/10},
	author = {Klemm, Victor and de Viragh, Yvain and Rohr, David and Siegwart, Roland and Tognon, Marco}
}
@article {10026619,
	title = {Robust Sampling-Based Control of Mobile Manipulators for Interaction With Articulated Objects},
	journal = {IEEE Transactions on Robotics},
	year = {2023},
	month = {2023/01},
	pages = {1-18},
	doi = {10.1109/TRO.2022.3233343},
	author = {Rizzi, Giuseppe and Chung, Jen Jen and Gawel, Abel and Ott, Lionel and Tognon, Marco and Siegwart, Roland}
}
@conference {10155970,
	title = {State-Aware Path-Following with Humans Through Force-based Communication via Tethered Physical Aerial Human-Robot Interaction},
	booktitle = {2023 International Conference on Unmanned Aircraft Systems (ICUAS)},
	year = {2023},
	month = {2023/06},
	doi = {10.1109/ICUAS57906.2023.10155970},
	author = {Hallworth, Ben and Allenspach, Mike and Siegwart, Roland and Tognon, Marco}
}
@article {9826901,
	title = {Adaptive Tank-based Control for Aerial Physical Interaction with Uncertain Dynamic Environments Using Energy-Task Estimation},
	journal = {IEEE Robotics and Automation Letters},
	volume = {7},
	year = {2022},
	month = {2022/07},
	pages = {9129-9136},
	doi = {10.1109/LRA.2022.3190074},
	author = {Benzi, Federico and Brunner, Maximilian and Tognon, Marco and Secchi, Cristian and Siegwart, Roland}
}
@conference {143,
	title = {Aerial Layouting: Design and Control of a Compliant and Actuated End-Effector for Precise In-flight Marking on Ceilings},
	booktitle = {Robotics: Science and System XVIII},
	year = {2022},
	month = {2022/06},
	publisher = {Robotics: Science and Systems Foundation},
	organization = {Robotics: Science and Systems Foundation},
	address = { New York City (USA)},
	doi = {10.3929/ethz-b-000551168},
	author = {Lanegger, Christian and Ruggia, Marco and Tognon, Marco and Ott, Lionel and Siegwart, Roland}
}
@article {9684670,
	title = {Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction},
	journal = {IEEE Robotics and Automation Letters},
	volume = {7},
	year = {2022},
	month = {2022/01},
	pages = {2827-2834},
	doi = {10.1109/LRA.2022.3143574},
	author = {Allenspach, Mike and Vyas, Yash and Rubio, Matthias and Siegwart, Roland and Tognon, Marco}
}
@article {9842318,
	title = {Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing},
	journal = {IEEE Robotics and Automation Letters},
	year = {2022},
	month = {2022/07},
	pages = {1-8},
	doi = {10.1109/LRA.2022.3194315},
	author = {Zhang, Weixuan and Ott, Lionel and Tognon, Marco and Siegwart, Roland}
}
@article {147,
	title = {A Planning-and-Control Framework for Aerial Manipulation of Articulated Objects},
	journal = {IEEE Robotics and Automation Letters},
	volume = {7},
	year = {2022},
	month = {2022/07},
	pages = {10689-1069},
	chapter = {10689},
	doi = {10.1109/LRA.2022.3191178},
	author = {Brunner, Maximilian and Rizzi, Giuseppe and Studiger, Matthias and Siegwart, Roland and Tognon, Marco}
}
@article {9780016,
	title = {Power-based Safety Layer for Aerial Vehicles in Physical Interaction using Lyapunov Exponents},
	journal = {IEEE Robotics and Automation Letters},
	volume = {7},
	year = {2022},
	month = {2022/05},
	pages = {6774-6781},
	doi = {10.1109/LRA.2022.3176959},
	author = {Cuniato, Eugenio and Lawrance, Nicholas Robert Jonathon and Tognon, Marco and Siegwart, Roland}
}
@conference {9981658,
	title = {Reactive Motion Planning for Rope Manipulation and Collision Avoidance using Aerial Robots},
	booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2022},
	month = {2022/10},
	doi = {10.1109/IROS47612.2022.9981658},
	author = {Shi, Liping and Pantic, Michael and Andersson, Olov and Tognon, Marco and Siegwart, Roland and Jacobsen, Rune Hylsberg}
}
@conference {9571032,
	title = {Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction},
	booktitle = {2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)},
	year = {2021},
	month = {2021/10},
	doi = {10.1109/AIRPHARO52252.2021.9571032},
	author = {Vyas, Yash and Allenspach, Mike and Lanegger, Christian and Siegwart, Roland and Tognon, Marco}
}
