Carré

prof.dr.ir. A. Franchi (Antonio)

Hoogleraar
EEMCS-EE-RAM
Carré C3609
a.franchi@utwente.nl
+31534899810
Visitekaartje

Expertises

  • Computer Science

    • Control
    • Robot
    • Design
    • multiple robot
    • Manipulator
    • Simulation

  • Engineering

    • Rotors
    • Unmanned Aerial Vehicle

Organisaties

Nevenwerkzaamheden

  • Sapienza University of RomeTeaching and collaboration with Sapienza University of Rome
  • Sapienza University of RomeTeaching and collaboration with Sapienza University of Rome

Publicaties

Jump to: Article | Conference contribution | Letter

Article

Predictive Admittance Control for Aerial Physical Interaction (2025)IEEE Robotics and automation letters, 10(11), 11235-11242. Alharbat, A., Gabellieri, C., Mersha, A. & Franchi, A.https://doi.org/10.1109/LRA.2025.3608653Agile and cooperative aerial manipulation of a cable-suspended load (2025)Science Robotics, 10(107). Article eadu8015. Sun, S., Wang, X., Sanalitro, D., Franchi, A., Tognon, M. & Alonso-Mora, J.https://doi.org/10.1126/scirobotics.adu8015Input-Output Extension of Underactuated Nonlinear Systems (2025)IEEE Control Systems Letters, 9, 2163-2168. Mizzoni, M., Afifi, A. & Franchi, A.https://doi.org/10.1109/LCSYS.2025.3601657Multi-Aerial Robotic System for Power Line Inspection and Maintenance: Comparative Analysis From the AERIAL-CORE Final Experiments (2025)IEEE Transactions on Field Robotics, 2, 549-573 (E-pub ahead of print/First online). Ollero, A., Suarez, A., Papaioannidis, C., Pitas, I., Marredo, J. M., Hoang, V. D., Ebeid, E., Kratky, V., Saska, M., Hanoune, C., Afifi, A., Franchi, A., Vourtsis, C., Floreano, D., Vasiljevic, G., Bogdan, S., Caballero, A., Ruggiero, F., Lippiello, V., … Viguria, A.https://doi.org/10.1109/TFR.2025.3586991Versatile Tasks on Integrated Aerial Platforms Using Only Onboard Sensors: Control, Estimation, and Validation (2025)IEEE transactions on robotics, 41, 3518 - 3538. Wang, K., Lai, G., Yu, Y., Du, J., Sun, J., Xu, B., Franchi, A. & Sun, F.https://doi.org/10.1109/TRO.2025.3568531Aerial Robots Carrying Flexible Cables: Dynamic Shape Optimal Control via Spectral Method Model (2025)IEEE transactions on robotics, 41, 3162-3182. Shen, Y., Franchi, A. & Gabellieri, C.https://doi.org/10.1109/TRO.2025.3562459Unified Feedback Linearization for Nonlinear Systems with Dexterous and Energy-Saving Modes (2025)IEEE Control Systems Letters, 8, 3494-3499. Mizzoni, M., Van Goor, P. & Franchi, A.https://doi.org/10.1109/LCSYS.2025.3549999Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty (2024)IEEE Robotics and automation letters, 10(2), 1561-1568. Srour, A., Franchi, A., Giordano, P. R. & Cognetti, M.https://doi.org/10.1109/LRA.2024.3519857Multi-Agent Visual-Inertial Localization for Integrated Aerial Systems with Loose Fusion of Odometry and Kinematics (2024)IEEE Robotics and automation letters, 9(7), 6504-6511. Lai, G., Shi, C., Wang, K., Yu, Y., Dong, Y. & Franchi, A.https://doi.org/10.1109/LRA.2024.3407579Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV (2024)Journal of Intelligent and Robotic Systems: Theory and Applications, 110(1). Article 21. Aboudorra, Y., Gabellieri, C., Brantjes, R., Sablé, Q. & Franchi, A.https://doi.org/10.1007/s10846-024-02054-xA Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints (2023)IEEE transactions on automation science and engineering, 1-14. Article 10319450. Ferrentino, E., Savino, H. J., Franchi, A. & Chiacchio, P.https://doi.org/10.1109/TASE.2023.3330371Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty (2023)IEEE transactions on robotics, 39(5), 3977-3993. Article 10149811. Gabellieri, C., Tognon, M., Sanalitro, D. & Franchi, A.https://doi.org/10.1109/TRO.2023.3279033Full-Pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles With Limited Actuation Abilities (2023)IEEE Robotics and automation letters, 8(8), 4951-4958. Article 10167718. Hamandi, M., Al-Ali, I., Seneviratne, L., Franchi, A. & Zweiri, Y.https://doi.org/10.1109/LRA.2023.3290422Coordinated multi-robot trajectory tracking control over sampled communication (2023)Automatica, 151. Article 110941. Rossi, E., Tognon, M., Ballotta, L., Carli, R., Cortés, J., Franchi, A. & Schenato, L.https://doi.org/10.1016/j.automatica.2023.110941Energy Aware Impedance Control of a Flying End-effector in the Port-Hamiltonian Framework (2022)IEEE transactions on robotics, 38(6), 3936-3955. Article 9813358. Rashad, R., Bicego, D., Zult, J., Sanchez-Escalonilla, S., Jiao, R., Franchi, A. & Stramigioli, S.https://doi.org/10.1109/TRO.2022.3183532Indirect Force Control of a Cable-Suspended Aerial Multi-Robot Manipulator (2022)IEEE Robotics and automation letters, 7(3), 6726-6733. Sanalitro, D., Tognon, M., Jimenez-Cano, A. E., Cortes, J. & Franchi, A.https://doi.org/10.1109/LRA.2022.3176457Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System: A Proof of Concept for Novel Robotics-Based Construction Techniques (2022)Journal of Intelligent and Robotic Systems: Theory and Applications, 105(3). Article 68. Jiménez-Cano, A. E., Sanalitro, D., Tognon, M., Franchi, A. & Cortés, J.https://doi.org/10.1007/s10846-022-01668-3A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework (2022)IEEE Control Systems Letters, 7, 163-168. Article 9810332. Rothammer, M., Coelho, A., Mishra, H., Ott, C., Franchi, A. & Albu-Schaeffer, A.https://doi.org/10.1109/LCSYS.2022.3187349FAST-Hex -- A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation (2022)IEEE/ASME transactions on mechatronics, 27(3), 1244-1255. Ryll, M., Bicego, D., Giurato, M., Lovera, M. & Franchi, A.https://doi.org/10.1109/TMECH.2021.3099197Motor-Level N-MPC for Cooperative Active Perception With Multiple Heterogeneous UAVs (2022)IEEE Robotics and automation letters, 7(2), 2063-2070. Article 9682606. Jacquet, M., Kivits, M., Das, H. & Franchi, A.https://doi.org/10.1109/LRA.2022.3143218Past, Present, and Future of Aerial Robotic Manipulators (2022)IEEE transactions on robotics, 38(1), 626-645. Article 9462539. Ollero, A., Tognon, M., Suarez, A., Lee, D. & Franchi, A.https://doi.org/10.1109/TRO.2021.3084395Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC (2021)IEEE Robotics and automation letters, 6(4), 7611-7618. Article 9483586. Carlos, B. B., Franchi, A. & Oriolo, G.https://doi.org/10.1109/LRA.2021.3096502Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control (2021)Applied Sciences, 11(19). Article 8955. Mohammadi, M., Bicego, D., Franchi, A., Barcelli, D. & Prattichizzo, D.https://doi.org/10.3390/app11198955Design of multirotor aerial vehicles: A taxonomy based on input allocation (2021)International journal of robotics research, 40(8-9), 1015-1044. Hamandi, M., Usai, F., Sablé, Q., Staub, N., Tognon, M. & Franchi, A.https://doi.org/10.1177/02783649211025998Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation (2021)Journal of Intelligent and Robotic Systems: Theory and Applications, 102(1). Article 14. Coelho, A., Sarkisov, Y., Wu, X., Mishra, H., Singh, H., Dietrich, A., Franchi, A., Kondak, K. & Ott, C.https://doi.org/10.1007/s10846-021-01365-7A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure (2021)IEEE Robotics and automation letters, 6(2), 4001-4008. Article 9381623. Baskaya, E., Hamandi, M., Bronz, M. & Franchi, A.https://doi.org/10.1109/LRA.2021.3067182Motor and Perception Constrained NMPC for Torque-controlled Generic Aerial Vehicles (2021)IEEE Robotics and automation letters, 6(2), 518-525. Jacquet, M. & Franchi, A.https://doi.org/10.1109/LRA.2020.3045654Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles With Bounded Lateral Force (2021)IEEE Robotics and automation letters, 6(2), 3949-3955. Article 9381598. Horla, D., Hamandi, M., Giernacki, W. & Franchi, A.https://doi.org/10.1109/LRA.2021.3067229

Conference contribution

Invisible Servoing: A Visual Servoing Approach with Return-Conditioned Latent Diffusion (2025)In 2025 International Conference on Unmanned Aircraft Systems, ICUAS 2025 (pp. 52-59) (International Conference on Unmanned Aircraft Systems (ICUAS); Vol. 2025). IEEE. Gerges, B., Bazzana, B., Botteghi, N., Aboudorra, Y. & Franchi, A.https://doi.org/10.1109/ICUAS65942.2025.11007885An Experimentally Validated Model of the Propeller Force Accounting for Cross Influences on Multi-Rotor Aerial Systems (2024)In International Conference on Unmanned Aircraft Systems, ICUAS 2024. Bazzana, B., Brantjes, R., Gabellieri, C. & Franchi, A.https://doi.org/10.1109/ICUAS60882.2024.10556890Gain Scheduling Position Control for Fully-actuated Morphing Multi-rotor UAVs (2024)In 2024 International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 15-22) (Proceedings International Conference on Unmanned Aircraft Systems (ICUAS); Vol. 2024). IEEE. Aboudorra, Y., Saini, A. & Franchi, A.https://doi.org/10.1109/ICUAS60882.2024.10557108On the Existence of Static Equilibria of a Cable-Suspended Load with Non-stopping Flying Carriers (2024)In 2024 International Conference on Unmanned Aircraft Systems, ICUAS 2024 (pp. 638-644). IEEE. Gabellieri, C. & Franchi, A.https://doi.org/10.1109/ICUAS60882.2024.10556930Towards Instance Segmentation-Based Litter Collection with Multi-Rotor Aerial Vehicle (2024)In 2024 International COnference on Unmanned Aircraft Systems (pp. 631-637). Zoric, F., Franchi, A., Orsag, M., Kovacic, Z. & Gabellieri, C.A Study on Impact-Aware Aerial Robots Colliding with the Environment at Non-vanishing Speed (2024)In ICUAS 2025. Indukumar, G., Saccon, A., Franchi, A. & Gabellieri, C.Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty (2024)In International Conference on Unmanned Aircraft Systems. Srour, A., Marcellini, S., Belvedere, T., Cognetti, M., Franchi, A. & Robuffo Giordano, P.https://hal.science/hal-04553932Controller and Trajectory Optimization for a Quadrotor UAV with Parametric Uncertainty (2023)In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 (pp. 9999-10005) (IEEE International Conference on Intelligent Robots and Systems). IEEE. Srour, A., Franchi, A. & Giordano, P. R.https://doi.org/10.1109/IROS55552.2023.10341739Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias (2023)In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 6920-6926) (IEEE International Conference on Intelligent Robots and Systems). IEEE. Gabellieri, C., Tognon, M., Sanalitro, D. & Franchi, A.https://doi.org/10.1109/IROS55552.2023.10342240A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration (2023)In 2023 International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 328-335). Article 10156559. IEEE. Silano, G., Afifi, A., Saska, M. & Franchi, A.https://doi.org/10.1109/ICUAS57906.2023.10156559Differential Flatness and Manipulation of Elasto-flexible Cables Carried by Aerial Robots in a Possibly Viscous Environment (2023)In 2023 International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 963-968). Article 10156297. IEEE. Gabellieri, C. & Franchi, A.https://doi.org/10.1109/ICUAS57906.2023.10156297Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load Using Multiple UAVs (2023)In 2023 International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 969-975). Article 10156031. IEEE. Sun, S. & Franchi, A.https://doi.org/10.1109/ICUAS57906.2023.10156031Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned (2023)In 2023 International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 956-962). Article 10156609. IEEE. Afifi, A., Corsini, G., Sablé, Q. L. G., Aboudorra, Y., Sidobre, D. & Franchi, A.https://doi.org/10.1109/ICUAS57906.2023.10156609EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems (2023)In 2022 IEEE 61st Conference on Decision and Control (CDC) (pp. 2437-2442). Article 9992915. IEEE. Coelho, A., Albu-Schaeffer, A., Sachtler, A., Mishra, H., Bicego, D., Ott, C. & Franchi, A.https://doi.org/10.1109/CDC51059.2022.9992915Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles (2022)In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1818-1824). Article 9981643. IEEE. Jacquet, M. & Franchi, A.https://doi.org/10.1109/IROS47612.2022.9981643Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case (2022)In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7597-7604). Article 9981045. IEEE. Corsini, G., Jacquet, M., Das, H., Afifi, A., Sidobre, D. & Franchi, A.https://doi.org/10.1109/IROS47612.2022.9981045Three Fundamental Paradigms for Aerial Physical Interaction Using Nonlinear Model Predictive Control (2022)In 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022 (pp. 39-48). Article 9836221. IEEE. Alharbat, A., Esmaeeli, H., Bicego, D., Mersha, A. & Franchi, A.https://doi.org/10.1109/ICUAS54217.2022.9836221Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits (2022)In 2022 International Conference on Robotics and Automation (ICRA) (pp. 4855-4861). Article 9812451. IEEE. Afifi, A., Holland, M. v. & Franchi, A.https://doi.org/10.1109/ICRA46639.2022.9812451A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles (2021)In 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO). Article 9571053. IEEE. Corsini, G., Jacquet, M., Jimenez-Cano, A. E., Afifi, A., Sidobre, D. & Franchi, A.https://doi.org/10.1109/AIRPHARO52252.2021.9571053Understanding the omnidirectional capability of a generic multi-rotor aerial vehicle (2021)In 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO). Article 9571051. IEEE. Hamandi, M., Sable, Q., Tognon, M. & Franchi, A.https://doi.org/10.1109/AIRPHARO52252.2021.9571051Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View (2021)In 2021 International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 994-1002). Article 9476739. IEEE. Coelho, A., Sarkisov, Y. S., Lee, J., Balachandran, R., Franchi, A., Kondak, K. & Ott, C.https://doi.org/10.1109/ICUAS51884.2021.9476739

Letter

Safe and Robust Planning for Uncertain Robots: A Closed-Loop State Sensitivity Approach (2024)IEEE Robotics and automation letters, 9(11), 9962-9969. Afifi, A., Belvedere, T., Pupa, A., Robuffo Giordano, P. & Franchi, A.https://doi.org/10.1109/LRA.2024.3468088

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