Publications

Journals

  1. 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. Pdf Video
  2. 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. Pdf Video
  3. E. Rossi, Tognon, M., Ballotta, L., Carli, R., Cortés, J., Franchi, A., and Schenato, L., “Coordinated multi-robot trajectory tracking control over sampled communication”, Automatica, vol. 151, p. 110941, 2023. Pdf
  4. 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. Pdf Video
  5. 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. Pdf Video
  6. A. E. Jiménez-Cano, Sanalitro, D., Tognon, M., Franchi, A., and Cortés, J., “Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System”, Journal of Intelligent & Robotic Systems, vol. 105, pp. 1–13, 2022. Pdf
  7. 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. Pdf
    Published in the Special Issue: Variable Impedance Control and Learning In Complex Interaction Scenarios: Challenges and Opportunities
  8. 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. Pdf Video
    finalist of the IROS 2022 Best Paper Award on Mobile Manipulation
  9. 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. Pdf Video
    IROS 2022 Best Paper Award on Safety, Security, and Rescue Robotics
  10. 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. Pdf Video
  11. 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. Pdf Video
  12. 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. Pdf Video
  13. 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. Pdf
  14. 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. Pdf
  15. 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. Pdf Video
  16. 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. Pdf Video
    Also selected for presentation at the 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France.
  17. 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. Pdf Video
    Also selected for presentation at the 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France.
  18. 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. Pdf
  19. 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. Pdf
    Also selected for presentation at the 2019 IEEE Conf. on Decision and Control, Nice, France.
  20. 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. Pdf Video
    Also selected for presentation at the 2019 IEEE Int. Conf. on Robotics and Automation, Montreal, Canada
  21. 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. Pdf
    Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
  22. 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. Pdf
    Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
  23. M. Tognon and Franchi, A., “Omnidirectional Aerial Vehicles With Unidirectional Thrusters: Theory, Optimal Design, and Control”, IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2277-2282, 2018. Pdf
  24. M. Tognon and Franchi, A., “Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars”, IEEE Transactions on Robotics, vol. 33, no. 4, pp. 834 - 845, 2017. Pdf
  25. 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. Pdf Video

Conferences

  1. C. Gabellieri, Tognon, M., Sanalitro, D., and Franchi, A., “Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias”, in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, Michigan, USA, 2023. Pdf Video
  2. E. Cuniato, Geles, I., Zhang, W., Andersson, O., Tognon, M., and Siegwart, R., “Learning to Open Doors with an Aerial Manipulator”, in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023. Pdf Video
  3. M. Allenspach, Laasch, S., Lawrance, N., Tognon, M., and Siegwart, R., “Mixed Reality Human-Robot Interface to Generate and Visualize 6DoF Trajectories: Application to Omnidirectional Aerial Vehicles”, in 2023 International Conference on Unmanned Aircraft Systems (ICUAS), 2023. Pdf
  4. B. Hallworth, Allenspach, M., Siegwart, R., and Tognon, M., “State-Aware Path-Following with Humans Through Force-based Communication via Tethered Physical Aerial Human-Robot Interaction”, in 2023 International Conference on Unmanned Aircraft Systems (ICUAS), 2023. Pdf
  5. M. Rubio, Näf, J., Bühlmann, F., Brigger, P., Hüsser, M., Inauen, M., Ospelt, N., Gisler, D., Tognon, M., and Siegwart, R., “Design of PrisMAV: An Omnidirectional Aerial Manipulator based on a 3-PUU Parallel Mechanism”, in 2023 International Conference on Unmanned Aircraft Systems (ICUAS), 2023. Pdf
  6. M. Allenspach, Kötter, T., Bähnemann, R., Tognon, M., and Siegwart, R., “Design and Evaluation of a Mixed Reality-based Human-Robot Interface for Teleoperation of Omnidirectional Aerial Vehicles”, in 2023 International Conference on Unmanned Aircraft Systems (ICUAS), 2023. Pdf
  7. E. Cuniato, Geckeler, C., Brunner, M., Strübin, D., Bähler, E., Ospelt, F., Tognon, M., Mintchev, S., and Siegwart, R., “Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator”, in 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023. Pdf Video
  8. L. Shi, Pantic, M., Andersson, O., Tognon, M., Siegwart, R., and Jacobsen, R. Hylsberg, “Reactive Motion Planning for Rope Manipulation and Collision Avoidance using Aerial Robots”, in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. Pdf Video
  9. C. Lanegger, Ruggia, M., Tognon, M., Ott, L., and Siegwart, R., “Aerial Layouting: Design and Control of a Compliant and Actuated End-Effector for Precise In-flight Marking on Ceilings”, in Robotics: Science and System XVIII, New York City (USA), 2022. Pdf Video
  10. M. Allenspach, Lawrance, N., Tognon, M., and Siegwart, R., “Towards 6DoF Bilateral Teleoperation of an Omnidirectional Aerial Vehicle for Aerial Physical Interaction”, in 2022 IEEE Int. Conf. on Robotics and Automation, 2022. Pdf Video
  11. M. Brunner, Giacomini, L., Siegwart, R., and Tognon, M., “Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects”, in 2022 IEEE Int. Conf. on Robotics and Automation, 2022. Pdf Video
  12. R. Szász, Allenspach, M., Han, M., Tognon, M., and Katzschmann, R. K., “Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm”, in 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), 2022. Pdf Video
  13. M. Hamandi, Sable, Q., Tognon, M., and Franchi, A., “Understanding the omnidirectional capability of a generic multi-rotor aerial vehicle”, in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), 2021. Pdf
  14. Y. Vyas, Allenspach, M., Lanegger, C., Siegwart, R., and Tognon, M., “Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction”, in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), 2021. Pdf
  15. W. Zhang, Tognon, M., Ott, L., Siegwart, R., and Nieto, J., “Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots”, in 2021 IEEE Int. Conf. on Robotics and Automation, Xi’an, China, 2021. Pdf Video
  16. L. Peric, Brunner, M., Bodie, K., Tognon, M., and Siegwart, R., “Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-and-Slide Operations”, in 2021 IEEE Int. Conf. on Robotics and Automation, Xi’an, China, 2021. Pdf Video
  17. A. Petitti, Sanalitro, D., Tognon, M., Milella, A., Cortés, J., and Franchi, A., “Inertial Estimation and Energy-Efficient Control of a Cable-suspended Load with a Team of UAVs”, in 2020 International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020. Pdf
  18. M. Hamandi, Sawant, K., Tognon, M., and Franchi, A., “Omni-Plus-Seven (O 7 + ): An Omnidirectional Aerial Prototype with Minimal Uni-directional Thrusters”, in 2020 International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020. Pdf Video
  19. E. Umili, Tognon, M., Sanalitro, D., Oriolo, G., and Franchi, A., “Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs”, in 2020 International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020. Pdf Video
  20. M. Hamandi, Tognon, M., and Franchi, A., “Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles”, in 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France, 2020. Pdf Video
  21. C. Gabellieri, Tognon, M., Pallottino, L., and Franchi, A., “A Study on Force-Based Collaboration in Flying Swarms”, in International Conference on Swarm Intelligence, Rome, Italy, 2018. Pdf
  22. J. L. Sanchez-Lopez, Arellano-Quintana, V., Tognon, M., Campoy, P., and Franchi, A., “Visual Marker based Multi-Sensor Fusion State Estimation”, in 20th World Congress of the International Federation of Automatic Control, Toulouse, France, 2017. Pdf Video
  23. M. Tognon and Franchi, A., “Landing and Take-off on/from Sloped and Non-planar Surfaces with more than 50 Degrees of Inclination”, in 9th International Micro Air Vehicles Conference, Toulouse, France, 2017. Pdf
  24. M. Tognon and Franchi, A., “Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform”, in 20th World Congress of the International Federation of Automatic Control, Toulouse, France, 2017. Pdf
  25. M. Tognon, Yüksel, B., Buondonno, G., and Franchi, A., “Dynamic decentralized control for protocentric aerial manipulators”, in 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, Singapore, 2017. Pdf Video
  26. M. Tognon, Testa, A., Rossi, E., and Franchi, A., “Takeoff and landing on slopes via inclined hovering with a tethered aerial robot”, in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016. Pdf Video
  27. M. Tognon and Franchi, A., “Nonlinear observer for the control of bi-tethered multi aerial robots”, in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015. Pdf Video
  28. M. Tognon and Franchi, A., “Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots”, in IEEE/EUCA 2015 European Control Conference, Linz, Austria, 2015. Pdf
  29. M. Tognon and Franchi, A., “Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements”, in 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015. Pdf Video