M. Tognon, Gabellieri, C., Pallottino, L., and Franchi, A.,
“Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity”,
IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, no. 3, pp. 2577-2583, 2018.