S. Rajappa, M. Ryll, H. H. Bülthoff, and A. Franchi, Modeling, control and design optimization for a fully-actuated hexarotor aerial vehicle with tilted propellers, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.4006-4013, 2015.
DOI : 10.1109/ICRA.2015.7139759

URL : https://hal.archives-ouvertes.fr/hal-01134829

M. Ryll, D. Bicego, and A. Franchi, Modeling and control of FAST-Hex: A fully-actuated by synchronized-tilting hexarotor, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
DOI : 10.1109/IROS.2016.7759271

URL : https://hal.archives-ouvertes.fr/hal-01348538

M. Mohammadi, A. Franchi, D. Barcelli, and D. Prattichizzo, Cooperative aerial tele-manipulation with haptic feedback, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
DOI : 10.1109/IROS.2016.7759747

URL : https://hal.archives-ouvertes.fr/hal-01348539

G. Gioioso, A. Franchi, G. Salvietti, S. Scheggi, and D. Prattichizzo, The Flying Hand: a formation of uavs for cooperative aerial telemanipulation, 2014 IEEE Int. Conf. on Robotics and Automation, pp.4335-4341, 2014.

G. Gioioso, M. Mohammadi, A. Franchi, and D. Prattichizzo, A forcebased bilateral teleoperation framework for aerial robots in contact with the environment, 2015 IEEE Int. Conf. on Robotics and Automation, pp.318-324, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01135204

B. Yüksel, N. Staub, and A. Franchi, Aerial robots with rigid/elasticjoint arms: Single-joint controllability study and preliminary experiments, 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2016.

B. Yüksel, G. Buondonno, and A. Franchi, Differential flatness and control of protocentric aerial manipulators with any number of arms and mixed rigid-/elastic-joints, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
DOI : 10.1109/IROS.2016.7759109

B. Yüksel, S. Mahboubi, C. Secchi, H. H. Bülthoff, and A. Franchi, Design, identification and experimental testing of a light-weight flexible-joint arm for aerial physical interaction, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.870-876, 2015.
DOI : 10.1109/ICRA.2015.7139280