. Aeroarms, , 2015.

. Airobots, EU Collab. Project ICT-248669. www.airobots.eu. ARCAS (2011-2015). EU Collab. Project ICT-287617, pp.2010-2013

W. Burgard, M. Moors, C. Stachniss, and F. Schneider, Coordinated multi-robot exploration, IEEE Trans. on Robotics and Automation, vol.21, pp.376-386, 2005.

R. D'andrea, F. Augugliaro, M. Corzillius, C. Flores, M. Hamer et al., Flying Machine Enabled Construction, 2011.

N. Diolaiti and C. Melchiorri, Teleoperation of a mobile robot through haptic feedback, IEEE Int. Work. on Haptic Virtual Environments and Their Applications, pp.62-72, 2002.

I. Farkhatdinov and J. H. Ryu, Improving mobile robot bilateral teleoperation by introducing variable force feedback gain, 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.5812-5817, 2010.

M. Fiedler, Algebraic connectivity of Graphs, Czechoslovak Mathematical Journal, vol.23, pp.298-305, 1973.

M. Franken, S. Stramigioli, S. Misra, C. Secchi, and A. Macchelli, Bilateral telemanipulation with time delays: A two-layer approach combining passivity and transparency, IEEE Trans. on Robotics, vol.27, pp.741-756, 2011.

M. Gabiccini, A. Bicchi, D. Prattichizzo, and M. Malvezzi, On the Role of Hand Synergies in the Optimal Choice of Grasping Forces, Autonomous Robots, vol.31, issue.2-3, pp.235-252, 2011.

B. Gates, A Robot in Every Home, Scientific American 295.1, pp.58-65, 2007.

B. Hannaford and J. Ryu, Time-domain passivity control of haptic interfaces, IEEE Trans. on Robotics and Automation, vol.18, pp.1-10, 2002.

P. F. Hokayem and M. W. Spong, Bilateral Teleoperation: An Historical Survey, Automatica 42, vol.12, pp.2035-2057, 2006.

X. Hou and R. Mahony, Dynamic kinesthetic boundary for haptic teleoperation of aerial robotic vehicles, 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.4549-4950, 2013.

X. Hou, R. E. Mahony, and F. Schill, Comparative Study of Haptic Interfaces for Bilateral Teleoperation of VTOL Aerial Robot, IEEE Trans. on Systems, Man and Cybernetics: Systems. url, 2016.

M. Ji, G. Ferrari-trecate, M. Egerstedt, and A. Buffa, Containment Control in Mobile Networks, IEEE Trans. on Automatic Control, vol.53, pp.1972-1975, 2008.

H. Kawashima and M. Egerstedt, Approximate Manipulability of Leader-Follower Network, 50th IEEE Conf. on Decision and Control, pp.6618-6623, 2011.

P. Kingston and M. Egerstedt, Distributed-Infrastructure Multi-Robot Routing using a Helmholtz-Hodge Decomposition, 50th IEEE Conf. on Decision and Control, pp.5281-5286, 2011.

D. Lee, O. Martinez-palafox, and M. W. Spong, Bilateral teleoperation of multiple cooperative robots over delayed communication network: application, 2005 IEEE Int. Conf. on Robotics and Automation, pp.366-371, 2005.

D. Lee and M. W. Spong, Bilateral teleoperation of multiple cooperative robots over delayed communication network: theory, 2005 IEEE Int. Conf. on Robotics and Automation, pp.360-365, 2005.

D. J. Lee and K. Huang, Passive-Set-Position-Modulation Framework for Interactive Robotic Systems, IEEE Trans. on Robotics, vol.26, pp.354-369, 2010.

E. A. Lee, Cyber-Physical Systems: Design Challenges, 11th IEEE Int. Symp. on Object Oriented Real-Time Distributed Computing, pp.363-369, 2008.

N. E. Leonard and E. Fiorelli, Virtual leaders, artificial potentials and coordinated control of groups, 40th IEEE Conf. on Decision and Control, pp.2968-2973, 2001.

Q. Lindsey, D. Mellinger, and V. Kumar, Construction of Cubic Structures with Quadrotor Teams, Robotics: Science and Systems, 2011.

A. Y. Mersha, S. Stramigioli, and R. Carloni, Switching-based Mapping and Control for Haptic Teleoperation of Aerial Robots, 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2629-2634, 2012.

A. Y. Mersha, X. Hou, R. Mahony, S. Stramigioli, P. Corke et al., Intercontinental haptic teleoperation of a flying vehicle: A step towards real-time applications, 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.4951-4957, 2013.

M. Mesbahi and M. Egerstedt, Graph Theoretic Methods in Multiagent Networks. 1st ed. Princeton Series in Applied Mathematics, p.9780691140612, 2010.

H. Nguyen, S. Park, and D. J. Lee, Aerial Tool Operation System using Quadrotors as Rotating Thrust Generators, 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1285-1291, 2015.

G. Niemeyer, C. Preusche, and G. Hirzinger, Telerobotics, Springer Handbook of Robotics, pp.741-757, 2008.

S. Omari, M. D. Hua, G. J. Ducard, and T. Hamel, Bilateral Haptic Teleoperation of VTOL UAVs, 2013 IEEE Int. Conf. on Robotics and Automation, pp.2385-2391, 2013.

, EU Collab. Project STReP IST-045359, 2006.

E. J. Rodríguez-seda, J. J. Troy, C. A. Erignac, P. Murray, D. M. Stipanovi? et al., Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance, IEEE Trans. on Control Systems Technology, vol.18, pp.984-992, 2010.

, EU Collab. Project FP7-ICT 287513, 2011.

F. Schill, X. Hou, and R. Mahony, Admittance mode framework for haptic teleoperation of hovering vehicles with unlimited workspace, 2010 Australasian Conf. on Robotics & Automation, 2010.

S. Stramigioli, R. Mahony, and P. Corke, A novel approach to haptic tele-operation of aerial robot vehicles, 2010 IEEE Int. Conf. on Robotics and Automation, pp.5302-5308, 2010.

G. Antonelli, E. Cataldi, P. Giordano, S. Chiaverini, and A. Franchi, Experimental validation of a new adaptive control for quadrotors, 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2439-2444, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00851067

A. Censi, A. Franchi, L. Marchionni, and G. Oriolo, Simultaneous Maximum-likelihood Calibration of Odometry and Sensor Parameters, IEEE Trans. on Robotics, vol.29, pp.475-492, 2013.

M. Cognetti, P. Stegagno, A. Franchi, G. Oriolo, and H. H. Bülthoff, 3-D Mutual Localization with Anonymous Bearing Measurements, 2012 IEEE Int. Conf. on Robotics and Automation, pp.791-798, 2012.

M. Cognetti, P. Stegagno, A. Franchi, and G. Oriolo, Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems, 2nd IFAC Work. on Multivehicle Systems, 2012.

J. W. Durham, A. Franchi, and F. Bullo, Distributed Pursuit-Evasion with Limited-Visibility Sensor Via Frontier-based Exploration, 2010 IEEE Int. Conf. on Robotics and Automation, pp.3562-3568, 2010.

, Distributed Pursuit-Evasion without Global Localization via Local Frontiers, Autonomous Robots, vol.32, pp.81-95, 2012.

A. Franchi, Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots, Trends in Control and Decision-Making for Human-Robot Collaboration Systems, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01562555

A. Franchi, H. H. Bülthoff, and P. Giordano, Distributed Online Leader Selection in the Bilateral Teleoperation of Multiple UAVs, 50th IEEE Conf. on Decision and Control, pp.3559-3565, 2011.

A. Franchi, C. Masone, and P. Giordano, A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation, IEEE IROS Work. on Real-time Motion Planning: Online, Reactive, and in Real-time, p.2012, 2012.

A. Franchi, G. Oriolo, and P. Stegagno, Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures. Tech. rep. 1. Department of Computer and System Sciences Antonio Ruberti, 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3974-3980, 2009.

, On the Solvability of the Mutual Localization Problem with Anonymous Position Measures, 2010 IEEE Int. Conf. on Robotics and Automation, pp.3193-3199, 2010.

, Probabilistic Mutual Localization in Multi-agent Systems from Anonymous Position Measures, 49th IEEE Conf. on Decision and Control, pp.6534-6540, 2010.

, Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements, The International Journal of Robotics Research, vol.32, pp.1302-1322, 2013.

A. Franchi, A. Petitti, and A. Rizzo, Distributed Estimation of the Inertial Parameters of an Unknown Load via Multi-Robot Manipulation, 53rd IEEE Conf. on Decision and Control, pp.6111-6116, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01137826

A. Franchi, A. Petitti, and A. Rizzo, Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements, 2015 IEEE Int. Conf. on Robotics and Automation, pp.5517-5522, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01135206

A. Franchi and P. Giordano, Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements, 51st IEEE Conf. on Decision and Control, pp.5310-5317, 2012.

, Online Leader Selection for Improved Collective Tracking and Formation Maintenance, Accepted to IEEE Trans, 2016.

A. Franchi, P. Stegagno, and G. Oriolo, Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance, Autonomous Robots, vol.40, pp.245-265, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01228807

A. Franchi, L. Freda, G. Oriolo, and M. Vendittelli, A decentralized strategy for cooperative robot exploration, ACM International Conference Proceeding Series, Proceedings of the 1st international conference on Robot communication and coordination, vol.318, pp.768-774, 2007.

A. Franchi, L. Freda, L. Marchionni, G. Oriolo, and M. Vendittelli, 10th Int. Conf. on Intelligent Autonomous Systems, pp.348-355, 2008.

A. Franchi, L. Freda, G. Oriolo, and M. Vendittelli, The Sensor-based Random Graph Method for Cooperative Robot Exploration, IEEE/ASME Trans. on Mechatronics, vol.14, pp.163-175, 2009.

A. Franchi, P. Stegagno, M. D. Rocco, and G. Oriolo, Distributed Target Localization and Encirclement with a Multi-robot System, 7th IFAC Symp. on Intelligent Autonomous Vehicles, 2010.

A. Franchi, P. Giordano, C. Secchi, H. I. Son, and H. H. Bülthoff, A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology, 2011 IEEE Int. Conf. on Robotics and Automation, pp.898-905, 2011.

A. Franchi, C. Secchi, H. I. Son, H. H. Bülthoff, and P. Giordano, Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology, IEEE Trans. on Robotics, vol.28, pp.1019-1033, 2012.

A. Franchi, C. Masone, V. Grabe, M. Ryll, H. H. Bülthoff et al., Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering, The International Journal of Robotics Research, pp.1504-1525, 2012.

A. Franchi, C. Secchi, M. Ryll, H. H. Bülthoff, and P. Giordano, Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs, IEEE Robotics & Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform, vol.19, pp.57-68, 2012.

A. Franchi, R. Carli, D. Bicego, and M. Ryll, Full-Pose Geometric Tracking Control on SE(3) for Laterally Bounded Fully-Actuated Aerial Vehicles, Submitted to 55th IEEE Conf. on Decision and Control, 2016.

M. Gagliardi, G. Oriolo, H. H. Bülthoff, and A. Franchi, Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs, 13th European Control Conference, pp.1902-1908, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01137963

G. Gioioso, A. Franchi, G. Salvietti, S. Scheggi, and D. Prattichizzo, The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation, 2014 IEEE Int. Conf. on Robotics and Automation, pp.4335-4341, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01990572

G. Gioioso, M. Ryll, D. Prattichizzo, H. H. Bülthoff, and A. Franchi, Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector, 2014 IEEE Int. Conf. on Robotics and Automation, pp.6278-6284, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01083777

G. Gioioso, M. Mohammadi, A. Franchi, and D. Prattichizzo, A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment, 2015 IEEE Int. Conf. on Robotics and Automation, pp.318-324, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01135204

V. Grabe, M. Riedel, H. H. Bülthoff, P. Giordano, and A. Franchi, The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control, 6th European Conference on Mobile Robots, pp.19-25, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00908803

D. Lee, A. Franchi, P. Giordano, H. I. Son, and H. H. Bülthoff, Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet, 2011 IEEE Int. Conf. on Robotics and Automation, pp.1341-1347, 2011.

D. J. Lee, A. Franchi, H. I. Son, H. H. Bülthoff, and P. Giordano, Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles, IEEE/ASME Trans. on Mechatronics, Focused Section on Aerospace Mechatronics, vol.18, pp.1334-1345, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00910801

C. Masone, A. Franchi, H. H. Bülthoff, and P. Giordano, Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots, 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2641-2648, 2012.

C. Masone, P. Giordano, H. H. Bülthoff, and A. Franchi, Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control, 2014 IEEE Int. Conf. on Robotics and Automation, pp.6468-6475, 2014.
URL : https://hal.archives-ouvertes.fr/hal-00949184

G. Michieletto, A. Cenedese, and A. Franchi, Submitted to 55th IEEE Conf. on Decision and Control, 2016.

M. Mohammadi, A. Franchi, D. Barcelli, and D. Prattichizzo, Cooperative Aerial Tele-Manipulation with Haptic Feedback, Submitted to 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01348539

T. Nestmeyer, A. Franchi, H. H. Bülthoff, and P. Giordano, Decentralized Multi-target Exploration and Connectivity Maintenance with a Multi-robot System, 2013.

T. Nestmeyer, P. Giordano, H. H. Bülthoff, and A. Franchi, Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01332937

F. Pasqualetti, A. Franchi, and F. Bullo, On Optimal Cooperative Patrolling, 49th IEEE Conf. on Decision and Control, pp.7153-7158, 2010.

, On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms, IEEE Trans. on Robotics, vol.28, pp.592-606, 2012.

A. Petitti, A. Franchi, D. D. Paola, and A. Rizzo, Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators, 2016 IEEE Int. Conf. on Robotics and Automation, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01285043

S. Rajappa, M. Ryll, H. H. Bülthoff, and A. Franchi, Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers, 2015 IEEE Int. Conf. on Robotics and Automation, pp.4006-4013, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01134829

M. Riedel, A. Franchi, H. H. Bülthoff, P. Giordano, and H. I. Son, Experiments on Intercontinental Haptic Control of Multiple UAVs, 12th Int. Conf. on Intelligent Autonomous Systems, pp.227-238, 2012.

R. Giordano, P. , A. Franchi, C. Secchi, and H. H. Bülthoff, Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization, 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.163-170, 2011.

R. Giordano, P. , A. Franchi, C. Secchi, and H. H. Bülthoff, A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance, The International Journal of Robotics Research, vol.32, pp.299-323, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00910385

M. Ryll, D. Bicego, and A. Franchi, Mechanical Design and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor, Submitted to 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2016.

F. Schiano, A. Franchi, D. Zelazo, and P. Giordano, A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs, Submitted to 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01348543

C. Secchi, A. Franchi, H. H. Bülthoff, and P. Giordano, Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology, 2012 IEEE Int. Conf. on Robotics and Automation, pp.4307-4314, 2012.

, Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation, 2013 IEEE Int. Conf. on Robotics and Automation, 2013.

H. I. Son, J. Kim, L. Chuang, A. Franchi, P. Giordano et al., An Evaluation of Haptic Cues on the Tele-Operator's Perceptual Awareness of Multiple UAVs' Environments, IEEE World Haptics Conference, pp.149-154, 2011.

H. I. Son, L. L. Chuang, A. Franchi, J. Kim, D. J. Lee et al., Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots, 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3039-3046, 2011.

H. I. Son, A. Franchi, L. L. Chuang, J. Kim, H. H. Bülthoff et al., Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots, IEEE Trans. on Systems, Man, & Cybernetics. Part B: Cybernetics, vol.43, pp.597-609, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00910383

S. Spedicato, A. Franchi, and G. Notarstefano, From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots, 2016 IEEE Int. Conf. on Robotics and Automation, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01271988

S. Spedicato, G. Notarstefano, H. H. Bülthoff, and A. Franchi, Aggressive Maneuver Regulation of a Quadrotor UAV, Int. Symp. on Robotics Research. Tracts in Advanced Robotics, p.16, 2013.

R. Spica, A. Franchi, G. Oriolo, H. H. Bülthoff, and P. Giordano, Aerial Grasping of a Moving Target with a Quadrotor UAV, 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.4985-4992, 2012.

R. Spica, P. Giordano, M. Ryll, H. H. Bülthoff, and A. Franchi, An Open-Source Hardware/Software Architecture for Quadrotor UAVs, 2nd IFAC Work. on Research, Education and Development of Unmanned Aerial Systems, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00906138

N. Staub and A. Franchi, Battery-aware Dynamical Modeling and Identification for the Total Thrust in Multi-rotor UAVs using only an Onboard Accelerometer, 2015 IEEE Int. Conf. on Robotics and Automation, pp.3341-3346, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01137960

P. Stegagno, M. Cognetti, A. Franchi, and G. Oriolo, Mutual Localization using Anonymous Bearingonly Measures, 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.469-474, 2011.

P. Stegagno, M. Basile, H. H. Bülthoff, and A. Franchi, Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation, 2nd IFAC Work. on Research, 2013.

P. Stegagno, M. Basile, H. H. Bülthoff, and A. Franchi, A Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback, 2014 IEEE Int. Conf. on Robotics and Automation, pp.3862-3869, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01137970

M. Tognon, S. S. Dash, and A. Franchi, Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform, IEEE Robotics and Automation Letters, vol.1, issue.2, pp.732-737, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01285318

M. Tognon and A. Franchi, Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots, 14th European Control Conference, pp.1614-1619, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01137736

, Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements, 2015 IEEE Int. Conf. on Robotics and Automation, pp.3994-3999, 2015.

, Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots, 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1852-1857, 2015.

M. Tognon, A. Testa, E. Rossi, and A. Franchi, Exploiting a Passive Tether for Robust Takeoff and Landing on Slopes: Methodology and Experiments, Submitted to 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2016.

B. Yüksel, G. Buondonno, and A. Franchi, Differential Flatness and Control of Protocentric Aerial Manipulators with Mixed Rigid-and Elastic-Joints, Submitted to 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2016.

B. Yüksel, N. Staub, and A. Franchi, Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments, Submitted to 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2016.

B. Yüksel, C. Secchi, H. H. Bülthoff, and A. Franchi, A Nonlinear Force Observer for Quadrotors and Application to Physical Interactive Tasks, 2014 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp.433-440, 2014.

, Reshaping the Physical Properties of a Quadrotor through IDA-PBC and its Application to Aerial Physical Interaction, 2014 IEEE Int. Conf. on Robotics and Automation, pp.6258-6265, 2014.

B. Yüksel, S. Mahboubi, C. Secchi, H. H. Bülthoff, and A. Franchi, Design, Identification and Experimental Testing of a Light-Weight Flexible-joint Arm for Aerial Physical Interaction, 2015 IEEE Int. Conf. on Robotics and Automation, pp.870-876, 2015.

D. Zelazo, P. Giordano, and A. Franchi, Bearing-Only Formation Control Using an SE(2) Rigidity Theory, 54rd IEEE Conf. on Decision and Control, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01187978

D. Zelazo, A. Franchi, and P. Giordano, Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing, 13th European Control Conference, pp.2703-2708, 2014.
URL : https://hal.archives-ouvertes.fr/hal-00994989

D. Zelazo, A. Franchi, F. Allgöwer, H. H. Bülthoff, and P. Giordano, Rigidity Maintenance Control for Multi-Robot Systems, Robotics: Science and Systems, 2012.
URL : https://hal.archives-ouvertes.fr/hal-01076423

D. Zelazo, A. Franchi, H. H. Bülthoff, and P. Giordano, Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems, The International Journal of Robotics Research, vol.34, issue.1, pp.105-128, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01076423