Journal Article
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.
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.
M. Tognon, Cataldi, E., Tello-Chavez, H. A., Antonelli, G., Cortés, J., and Franchi, A.,
“Control-Aware Motion Planning for Task-Constrained Aerial Manipulation”,
IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, no. 3, pp. 2478-2484, 2018.
E. Rossi, Tognon, M., Carli, R., Schenato, L., Cortés, J., and Franchi, A.,
“Cooperative Aerial Load Transportation via Sampled Communication”,
IEEE Control Systems Letters, vol. 4, no. 2, pp. 277-282, 2019.
M. Hamandi, Usai, F., Sablé, Q., Staub, N., Tognon, M., and Franchi, A.,
“Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation”,
International Journal of Robotics Research, vol. 40, no. 8-9, pp. 1015-1044, 2021.
G. Nava, Sablé, Q., Tognon, M., Pucci, D., and Franchi, A.,
“Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators”,
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 331-338, 2020.
K. Bodie, Tognon, M., and Siegwart, R.,
“Dynamic End Effector Tracking with an Omnidirectional Parallel Aerial Manipulator”,
IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 8165-8172, 2021.
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.
D. Sanalitro, Savino, H. J., Tognon, M., Cortés, J., and Franchi, A.,
“Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties”,
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2185-2191, 2020.
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.
W. Zhang, Ott, L., Tognon, M., and Siegwart, R.,
“Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing”,
IEEE Robotics and Automation Letters, pp. 1-8, 2022.
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.
M. Tognon, Dash, S. S., and Franchi, A.,
“Observer-Based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform”,
IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 732-737, 2016.
A. Ollero, Tognon, M., Suarez, A., Lee, D., and Franchi, A.,
“Past, Present, and Future of Aerial Robotic Manipulators”,
IEEE Transactions on Robotics, vol. 38, no. 1, 2021.
M. Tognon, Alami, R., and Siciliano, B.,
“Physical Human-Robot Interaction with a Tethered Aerial Vehicle: Application to a Force-based Human Guiding Problem”,
Transactions on Robotics, vol. 37, no. 3, pp. 723-734, 2021.
M. Brunner, Rizzi, G., Studiger, M., Siegwart, R., and Tognon, M.,
“A Planning-and-Control Framework for Aerial Manipulation of Articulated Objects”,
IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10689-1069, 2022.
E. Cuniato, Lawrance, N. Robert Jon, Tognon, M., and Siegwart, R.,
“Power-based Safety Layer for Aerial Vehicles in Physical Interaction using Lyapunov Exponents”,
IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6774-6781, 2022.
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.
C. Gabellieri, Tognon, M., Sanalitro, D., Pallottino, L., and Franchi, A.,
“A Study on Force-based Collaboration in Swarms”,
Swarm Intelligence, vol. 14, no. 1, pp. 57 - 82, 2019.
M. Tognon, Tello-Chavez, H. A., Gasparin, E., Sablé, Q., Bicego, D., Mallet, A., Lany, M., Santi, G., Revaz, B., Cortés, J., and Franchi, A.,
“A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants”,
IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1846-1851, 2019.