Biblio

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2026
L. Prior Sancho, Belvedere, T., and Tognon, M., “From Pixels to Touch: Direct Tactile Servoing with Learned Photometric Normalization”, IEEE Robotics and Automation Letters, 2026.
2025
L. Balandi, Giordano, P. Robuffo, and Tognon, M., “Acceleration-Based Inner-Loop Control and MPC for Aerial Robots: Advantages and Drawbacks”, in European Robotics Forum, 2025.
L. Balandi, Giordano, P. Robuffo, and Tognon, M., “Enhancing IMU Accuracy in MRAVs: A Theoretical and Experimental Approach to Vibration Damping”, in 2025 International Conference on Unmanned Aircraft Systems (ICUAS), 2025.
J. Mellet, Allenspach, M., Cuniato, E., Pacchierotti, C., Siegwart, R., and Tognon, M., “Evaluation of Human-Robot Interfaces based on 2D/3D Visual and Haptic Feedback for Aerial Manipulation”, Journal of Intelligent and Robotic Systems, vol. 111, p. 104, 2025.
A. González-Morgado, Cuniato, E., Heredia, G., Ollero, A., Siegwart, R., and Tognon, M., “How to shake trees with aerial manipulators? a theoretical and experimental study”, IEEE Robotics and Automation Letters, 2025.
M. Mehl, Dalla-Libera, A., Carli, R., and Tognon, M., “Model-based reinforcement learning for robust end-to-end uav control from simulation to real system application”, in European Robotics Forum, 2025.
A. González-Morgado, Soueidan, J., Heredia, G., Ollero, A., Fraisse, P., Tognon, M., and Cognetti, M., “A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks”, IEEE Robotics and Automation Letters, 2025.
L. Balandi, Giordano, P. Robuffo, and Tognon, M., “QP-based inner-loop control for constraint-safe and robust trajectory tracking for aerial robots”, IEEE Robotics and Automation Letters, 2025.
2024
A. González-Morgado, Cuniato, E., Tognon, M., Heredia, G., Siegwart, R., and Ollero, A., “Controlled Shaking of Trees With an Aerial Manipulator”, IEEE/ASME Transactions on Mechatronics, pp. 1-12, 2024.
S. Bamert, Cathomen, R., Gorlo, N., Käppeli, G., Müller, M. Sven, Reinhart, T., Stadler, H., Shen, H., Cuniato, E., Tognon, M., and Siegwart, R., “Geranos: A Novel Tilted-Rotors Aerial Robot for the Transportation of Poles”, IEEE Robotics & Automation Magazine, vol. 31, pp. 66-77, 2024.
2023
E. Cuniato, Geckeler, C., Brunner, M., Strübin, D., Bähler, E., Ospelt, F., Tognon, M., Mintchev, S., and Siegwart, R., “Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator”, in 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023.
M. Allenspach, Kötter, T., Bähnemann, R., Tognon, M., and Siegwart, R., “Design and Evaluation of a Mixed Reality-based Human-Robot Interface for Teleoperation of Omnidirectional Aerial Vehicles”, in 2023 International Conference on Unmanned Aircraft Systems (ICUAS), 2023.
M. Rubio, Näf, J., Bühlmann, F., Brigger, P., Hüsser, M., Inauen, M., Ospelt, N., Gisler, D., Tognon, M., and Siegwart, R., “Design of PrisMAV: An Omnidirectional Aerial Manipulator based on a 3-PUU Parallel Mechanism”, in 2023 International Conference on Unmanned Aircraft Systems (ICUAS), 2023.
C. Gabellieri, Tognon, M., Sanalitro, D., and Franchi, A., “Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty”, IEEE Transactions on Robotics, pp. 1-17, 2023.
C. Gabellieri, Tognon, M., Sanalitro, D., and Franchi, A., “Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias”, in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, Michigan, USA, 2023.
E. Cuniato, Geles, I., Zhang, W., Andersson, O., Tognon, M., and Siegwart, R., “Learning to Open Doors with an Aerial Manipulator”, in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023.
M. Allenspach, Laasch, S., Lawrance, N., Tognon, M., and Siegwart, R., “Mixed Reality Human-Robot Interface to Generate and Visualize 6DoF Trajectories: Application to Omnidirectional Aerial Vehicles”, in 2023 International Conference on Unmanned Aircraft Systems (ICUAS), 2023.
G. Malczyk, Brunner, M., Cuniato, E., Tognon, M., and Siegwart, R., “Multi-directional Interaction Force Control with an Aerial Manipulator under External Disturbances”, Autonomous Robots, 2023.
V. Klemm, de Viragh, Y., Rohr, D., Siegwart, R., and Tognon, M., “Non-Smooth Trajectory Optimization for Wheeled Balancing Robots with Contact Switches and Impacts”, IEEE Transactions on Robotics, 2023.
G. Rizzi, Chung, J. Jen, Gawel, A., Ott, L., Tognon, M., and Siegwart, R., “Robust Sampling-Based Control of Mobile Manipulators for Interaction With Articulated Objects”, IEEE Transactions on Robotics, pp. 1-18, 2023.
B. Hallworth, Allenspach, M., Siegwart, R., and Tognon, M., “State-Aware Path-Following with Humans Through Force-based Communication via Tethered Physical Aerial Human-Robot Interaction”, in 2023 International Conference on Unmanned Aircraft Systems (ICUAS), 2023.
2022
F. Benzi, Brunner, M., Tognon, M., Secchi, C., and Siegwart, R., “Adaptive Tank-based Control for Aerial Physical Interaction with Uncertain Dynamic Environments Using Energy-Task Estimation”, IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9129-9136, 2022.
C. Lanegger, Ruggia, M., Tognon, M., Ott, L., and Siegwart, R., “Aerial Layouting: Design and Control of a Compliant and Actuated End-Effector for Precise In-flight Marking on Ceilings”, in Robotics: Science and System XVIII, New York City (USA), 2022.
M. Allenspach, Vyas, Y., Rubio, M., Siegwart, R., and Tognon, M., “Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction”, IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2827-2834, 2022.
D. Sanalitro, Tognon, M., Jimenez-Cano, A., Cortes, J., and Franchi, A., “Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator”, IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 2377-3766, 2022.

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