Antonio Franchi

収録論文 49本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 有界モータ入力下での双方向プロペラの正確な推力反転限界
  エアロロボティクス2026/8/7

  双方向プロペラの推力反転はゼロ回転速度を通過する際にモータ入力の有界性により制約されることを理論的に解析し、反転次数に応じた再現条件と設計指針を導出した。実験で線形反転時の電流・電圧ピークと追従劣化を確認した。

• Exact Thrust-Reversal Limits of Bidirectional Propellers under Bounded Motor Inputs
  2026/8/1
• A Morphing-Designed Hexarotor Prototype combining Practical Resilience and Efficiency
  2026/7/1
• Aerial Manipulation: Contact, Medium Coupling, and the Geometry of Readiness
  2026/7/1
• Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots
  2026/5/1
• Variable Aerodynamic Damping Actuation via Co-Contraction: A Structural Analogy with Variable Stiffness Actuation
  2026/5/1
• A Comparative Study of INDI and NDI with Nonlinear Disturbance Observer for Aerial Robotics
  2026/5/1
• Global Geometry of Orthogonal Foliations of Signed-Quadratic Systems
  2026/4/1
• Sensitivity-Based Tube NMPC for Cooperative Aerial Structures Under Parametric Uncertainty
  2026/4/1
• Aero-Promptness: Drag-Aware Aerodynamic Manipulability for Propeller-driven Vehicles
  2026/3/1
• Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference
  2026/3/1
• Autonomous Aerial Non-Destructive Testing: Ultrasound Inspection with a Commercial Quadrotor in an Unstructured Environment
  2026/3/1
• Muscle Coactivation in the Sky: Geometry and Pareto Optimality of Energy vs. Aerodynamic Promptness and Multirotors as Variable Stiffness Actuators
  2026/2/1
• Geometric Inverse Flight Dynamics on SO(3) and Application to Tethered Fixed-Wing Aircraft
  2026/2/1
• Nonlinear Predictive Control of the Continuum and Hybrid Dynamics of a Suspended Deformable Cable for Aerial Pick and Place
  2026/2/1
• Stability Analysis of Geometric Control for a Canonical Class of Underactuated Aerial Vehicles with Spurious Forces
  2026/2/1
• Impact-Robust Posture Optimization for Aerial Manipulation
  2026/2/1
• The N-5 Scaling Law: Topological Dimensionality Reduction in the Optimal Design of Fully-actuated Multirotors
  2025/12/1
• A Geometric Task-Space Port-Hamiltonian Formulation for Redundant Manipulators
  2025/12/1
• Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees
  2025/10/1
• STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle
  2025/9/1
• Multi-robot Aerial Soft Manipulator For Floating Litter Collection
  2025/7/1
• Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs
  2025/3/1
• Cyclic Nullspace Coordination: Perpetual Flight of Aerial Carriers for Static Suspension
  2025/3/1
• Unified Feedback Linearization for Nonlinear Systems with Dexterous and Energy-Saving Modes
  2025/2/1
• Agile and Cooperative Aerial Manipulation of a Cable-Suspended Load
  2025/1/1
• Invisible Servoing: a Visual Servoing Approach with Return-Conditioned Latent Diffusion
  2024/9/1
• Aerial Robots Carrying Flexible Cables: Dynamic Shape Optimal Control via Spectral Method Model
  2024/3/1
• On the Existence of Static Equilibria of a Cable-Suspended Load with Non-stopping Flying Carriers
  2024/2/1
• AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures
  2024/1/1
• Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective
  2023/6/1
• A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration
  2023/6/1
• Modelling, Analysis and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV
  2023/5/1
• EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems
  2023/3/1
• Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs
  2023/1/1
• A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints
  2022/7/1
• Coordinated Multi-Robot Trajectory Tracking Control over Sampled Communication
  2021/12/1
• Control of over-redundant cooperative manipulation via sampled communication
  2021/12/1
• FAST-Hex -- A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation
  2020/4/1
• Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs
  2019/11/1
• Development of SAM: cable-Suspended Aerial Manipulator
  2019/3/1
• Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories
  2017/12/1
• From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots
  2016/10/1
• Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force
  2016/5/1
• Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars
  2016/3/1
• Distributed Estimation of State and Parameters in Multi-Agent Cooperative Load Manipulation
  2016/2/1
• Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots
  2015/5/1
• Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems
  2013/9/1
• Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance
  2013/7/1