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Marco Tognon
PhD - Post doctoral researcher at ETH-Zurich
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Multiple open positions for Aerial Robotics
Presentations at ICRA23
New TRO paper on robotic manipulation
Recent publications
2023
,
Multi-directional Interaction Force Control with an Aerial Manipulator under External Disturbances
2023
,
Mixed Reality Human-Robot Interface to Generate and Visualize 6DoF Trajectories: Application to Omnidirectional Aerial Vehicles
2023
,
ICUAS
,
State-Aware Path-Following with Humans Through Force-based Communication via Tethered Physical Aerial Human-Robot Interaction
Research projects
AEROGUIDE
Aero-Train
FlyCrane
MBZIRC 2020
AEROARMS
Publications
Books
M. Tognon
and
Franchi, A.
,
Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers
, vol. 140. Springer, Springer Tracts in Advanced Robotics, 2020.
DOI
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BibTeX
Pdf
Journals
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.
DOI
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Pdf
Video
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.
DOI
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Pdf
Video
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.
Google Scholar
BibTeX
Pdf
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.
DOI
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Pdf
Video
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.
DOI
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Video
finalist of the IROS 2022 Best Paper Award on Mobile Manipulation
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.
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Published in the Special Issue: Variable Impedance Control and Learning In Complex Interaction Scenarios: Challenges and Opportunities
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.
Google Scholar
BibTeX
Pdf
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.
DOI
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Pdf
Video
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.
DOI
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Pdf
Video
IROS 2022 Best Paper Award on Safety, Security, and Rescue Robotics
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.
DOI
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Video
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.
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Video
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.
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BibTeX
Pdf
Video
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.
DOI
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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.
DOI
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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.
DOI
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Video
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.
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Video
Also selected for presentation at the 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France.
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.
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Video
Also selected for presentation at the 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France.
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.
Google Scholar
BibTeX
Pdf
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.
DOI
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Also selected for presentation at the 2019 IEEE Conf. on Decision and Control, Nice, France.
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.
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Video
Also selected for presentation at the 2019 IEEE Int. Conf. on Robotics and Automation, Montreal, Canada
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.
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Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
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.
DOI
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Also selected for presentation at the 2018 IEEE Int. Conf. on Robotics and Automation, Brisbane , Australia
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.
DOI
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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.
DOI
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Pdf
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.
DOI
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Video
Conferences
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.
DOI
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BibTeX
Pdf
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.
DOI
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Pdf
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.
DOI
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Pdf
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.
DOI
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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.
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BibTeX
Pdf
Video
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.
DOI
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Video
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.
DOI
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Video
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.
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Pdf
Video
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.
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Pdf
Video
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.
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Video
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.
DOI
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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.
DOI
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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.
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Video
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.
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Video
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.
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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.
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Video
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.
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Pdf
Video
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.
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Video
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.
Google Scholar
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Pdf
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.
DOI
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Video
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.
Google Scholar
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Pdf
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.
Google Scholar
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Pdf
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.
DOI
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Video
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.
DOI
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Video
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.
DOI
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Video
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.
DOI
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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.
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Video