@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}
}
@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 {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}
}
