N. Ahmad, R. A. Ghazilla, N. M. Khairi, and V. Kasi, Reviews on various inertial measurement unit (IMU) sensor applications, In: International Journal of Signal Processing Systems, vol.1, issue.2, pp.256-262, 2013.

. H. Ahrens-2009]-j, H. K. Ahrens, and . Khalil, High-gain observers in the presence of measurement noise: A switched-gain approach, Automatica, vol.45, pp.936-943, 2009.

K. Alexis, G. Darivianakis, M. Burri, and R. Siegwart, Aerial robotic contact-based inspection: planning and control, Autonomous Robots, vol.40, pp.631-655, 2016.

;. G. Antonelli, F. Antonelli, S. Arrichiello, and . Chiaverini, The Entrapment/Escorting Mission: An Experimental Study Using a Multirobot System, IEEE Robotics & Automation Magazine, vol.15, pp.22-29, 2008.

K. Baizid, F. Caccavale, S. Chiaverini, G. Giglio, and F. Pierri, Safety in coordinated control of multiple unmanned aerial vehicle manipulator systems: Case of obstacle avoidance, 2014 22nd Mediterranean Conference of Control and Automation, p.167, 2014.

K. Baizid, G. Giglio, F. Pierri, M. Trujillo, G. Antonelli et al., Behavioral control of unmanned aerial vehicle manipulator systems, Autonomous Robots, vol.35, pp.1-18, 2016.

M. Bangura and R. Mahony, Thrust Control for Multirotor Aerial Vehicles, IEEE Trans. on Robotics, vol.33, pp.390-405, 2017.

T. Bartelds, A. Capra, S. Hamaza, S. Stramigioli, and M. Fumagalli, Compliant aerial manipulators: Toward a new generation of aerial robotic workers, IEEE Robotics and Automation Letters, vol.1, issue.1, pp.477-483, 2016.

D. Berenson, S. S. Srinivasa, D. Ferguson, and J. J. Kuffner, Manipulation planning on constraint manifolds, 2009 IEEE Int. Conf. on Robotics and Automation, p.176, 2009.

D. Berenson, S. Srinivasa, and J. Kuffner, Task Space Regions, The International Journal of Robotics Research, vol.30, p.176, 2011.

M. Bernard, K. Kondak, I. Maza, and A. Ollero, Autonomous transportation and deployment with aerial robots for search and rescue missions, Journal of Field Robotics, vol.28, pp.914-931, 2011.

A. Boeuf, J. Cortés, R. Alami, and T. Siméon, Enhancing samplingbased kinodynamic motion planning for quadrotors, 2015 IEEE/RSJ Int
URL : https://hal.archives-ouvertes.fr/hal-01231717

, Conf. on Intelligent Robots and Systems, pp.2447-2452, 2015.

D. Brescianini and R. D'andrea, Design, Modeling and Control of an Omni-Directional Aerial Vehicle, 2016 IEEE Int. Conf. on Robotics and Automation, pp.3261-3266, 2016.

F. Bullo and A. D. Lewis, Geometric control of mechanical systems: modeling, analysis, and design for simple mechanical control systems, vol.49, p.61, 2004.

D. Cabecinhas, R. Naldi, L. Marconi, C. Silvestre, and R. Cunha, Robust Take-Off for a Quadrotor Vehicle, IEEE Trans. on Robotics, vol.28, issue.3, p.111, 2012.

F. Caccavale, G. Giglio, G. Muscio, and F. Pierri, Cooperative impedance control for multiple UAVs with a robotic arm, p.2015

I. Int, Conf. on Intelligent Robots and Systems, p.167, 2015.

R. Cano, C. Perez, F. Pruano, A. Ollero, and G. Heredia, Mechanical Design of a 6-DOF Aerial Manipulator for assembling bar structures using UAVs, IFAC Work. on Res., Educ. and Develop. of Unmanned Aerial Systems, vol.160, p.2, 2013.

M. Cefalo and G. Oriolo, Task-constrained motion planning for underactuated robots, 2015 IEEE Int. Conf. on Robotics and Automation
DOI : 10.1109/icra.2015.7139605

W. A. Seattle, , p.176, 2015.

A. Chamseddine, Y. Zhang, C. A. Rabbath, C. Join, and D. Theilliol, Flatness-based trajectory planning/replanning for a quadrotor unmanned aerial vehicle, IEEE Transactions on Aerospace and Electronic Systems, vol.48, pp.2832-2848, 2012.

S. Y. Choi, B. H. Choi, S. Y. Jeong, B. W. Gu, S. J. Yoo et al., Tethered aerial robots using contactless power systems for extended mission time and range, IEEE, pp.912-916, 2014.

P. Corke, ;. S. Robotics, T. Dai, D. S. Lee, and . Bernstein, Adaptive control of a quadrotor UAV transporting a cable-suspended load with unknown mass, Vision and Control: Fundamental Algorithms In MATLAB R Second, vol.118, pp.6149-6154, 2014.

;. A. De-luca and . De-luca, Dynamic control of robots with joint elasticity, Robotics and Automation, p.157, 1988.

D. Luca-1992, ]. A. De-luca, and C. Manes, Hybrid force-position control for robots in contact with dynamic environments, Robot Control, pp.177-182, 1991.

;. A. De-luca and . De-luca, Decoupling and feedback linearization of robots with mixed rigid/elastic joints, 1996 IEEE Int. Conf. on Robotics and Automation, p.157, 1996.

;. A. De-luca and . De-luca, Decoupling and feedback linearization of robots with mixed rigid/elastic joints, International Journal of Robust and Nonlinear Control: IFAC-Affiliated Journal, vol.8, pp.965-977, 1998.

D. Luca-2002, ]. A. De-luca, and G. Oriolo, Trajectory planning and control for planar robots with passive last joint, The International Journal of Robotics Research, vol.21, p.24, 2002.

D. Luca-2008a, ]. A. De-luca, and W. Book, Robots with Flexible Elements, Springer Handbook of Robotics, p.157, 2008.

D. Luca-2008b, ]. A. De-luca, W. Book, ;. Siciliano, O. Khatib et al., Robots with Flexible Elements, Springer Handbook of Robotics, vol.13, pp.287-317, 2008.

, Welcome to the Drone Age. Ed. by The Economist Group Limited, The Economist

. Sept, , 2015.

E. Eu-coll, Proj. FP7-ICT 288082, vol.42, p.41

M. Faessler, A. Franchi, and D. Scaramuzza, Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of HighSpeed Trajectories, IEEE Robotics and Automation Letters, vol.3, pp.620-626, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01658577

E. Feron and E. N. Johnson, Aerial robotics, Springer Handbook of Robotics, pp.1009-1029, 2008.

J. Fink, N. Michael, S. Kim, and V. Kumar, Planning and control for cooperative manipulation and transportation with aerial robots, The International Journal of Robotics Research, vol.30, pp.324-334, 2011.

M. Fliess, J. Lévine, P. Martin, and P. Rouchon, Flatness and defect of nonlinear systems: Introductory theory and examples, International Journal of Control, vol.61, p.23, 1995.

P. Foehn, D. Falanga, N. Kuppuswamy, R. Tedrake, and D. Scaramuzza, Fast trajectory optimization for agile quadrotor maneuvers with a cable-suspended payload, Robotics: Science and Systems, pp.1-10, 2017.

A. Franchi and A. Mallet, Adaptive Closed-loop Speed Control of BLDC Motors with Applications to Multi-rotor Aerial Vehicles, 2017 IEEE Int. Conf. on Robotics and Automation, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01476812

M. Fumagalli, R. Naldi, A. Macchelli, R. Carloni, S. Stramigioli et al., Modeling and control of a flying robot for contact inspection, 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3532-3537, 2012.

J. García-martín, J. Gómez-gil, and E. Vázquez-sánchez, Non-Destructive Techniques Based on Eddy Current Testing, Sensors 11, vol.3, pp.2525-2565, 2011.

G. Gasparin-2015]-enrico-gasparin, A. Santi, and . Nussbaumer, Eddy Current Crack Monitoring System for Structural Health Monitoring (SHM) Applications, 68th International Institute for Welding (IIW) Annual Assembly and International Conference, p.184, 2015.

M. Gassner, T. Cieslewski, and D. Scaramuzza, Dynamic collaboration without communication: Vision-based cable-suspended load transport with two quadrotors, 2017 IEEE Int. Conf. on Robotics and Automation, pp.5196-5202, 2017.

G. Gioioso, M. Ryll, D. Prattichizzo, H. H. Bülthoff, and A. Franchi, Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector, 2014 IEEE Int. Conf. on Robotics and Automation. Hong Kong, pp.6278-6284, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01083777

G. Gioioso, G. Salvietti, A. Franchi, M. Malvezzi, S. Scheggi et al., The Flying Hand: a Teleoperation Framework for Cooperative Aerial Grasping and Transportation, Convegno Annuale dei Docenti e Ricercatori Italiani in Automatica, 2014.

G. Gioioso, M. Mohammadi, A. Franchi, and D. Prattichizzo, A Force-based 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

F. A. Goodarzi and T. Lee, Stabilization of a rigid body payload with multiple cooperative quadrotors, Journal of Dynamic Systems, Measurement, and Control, vol.138, pp.121001-121001, 2016.

T. Hamel, R. Mahony, R. Lozano, and J. Ostrowski, Dynamic Modelling and Configuration Stabilization for an X4-Flyer, 15th IFAC World Congress, vol.34, p.33, 2002.

B. Houska, H. J. Ferreau, and M. Diehl, ACADO Toolkit-An Open Source Framework for Automatic Control and Dynamic Optimization, Optimal Control Applications and Methods, vol.32, pp.298-312, 2011.

M. Hua, T. Hamel, P. Morin, and C. Samson, A Control Approach for Thrust-Propelled Underactuated Vehicles and its Application to VTOL Drones, IEEE Trans. on Automatic Control, vol.54, pp.1837-1853, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00415854

M. Hua, T. Hamel, P. Morin, and C. Samson, Introduction to feedback control of underactuated VTOL vehicles: A review of basic control design ideas and principles, IEEE Control Systems Magazine, vol.33, pp.61-75, 2013.

M. Hua, T. Hamel, P. Morin, and C. Samson, Control of VTOL vehicles with thrust-tilting augmentation, Automatica, vol.52, pp.1-7, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01377793

A. Isidori, C. H. Moog, and A. De-luca, A sufficient condition for full linearization via dynamic state feedback, 25th IEEE Conference on, vol.25, pp.203-208, 1986.

A. Isidori, Nonlinear Control Systems, p.3540199160, 1995.

S. Karaman and E. Frazzoli, Sampling-based algorithms for optimal motion planning, The International Journal of Robotics Research, vol.30, pp.846-894, 2011.

H. K. Khalil, Nonlinear Systems. 3rd, vol.27, p.221, 2001.

S. Kim, S. Choi, and H. J. Kim, Aerial manipulation using a quadrotor with a two DOF robotic arm, 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, p.157, 2013.

I. Kolmanovsky, E. Garone, and S. Di-cairano, Reference and command governors: A tutorial on their theory and automotive applications, American Control Conference. IEEE, pp.226-241, 2014.

K. Kondak, K. Krieger, A. Albu-schäffer, M. Schwarzbach, M. Laiacker et al., Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks, International Journal of Advanced Robotic Systems, vol.10, pp.1-9, 2013.

E. Kraft, A quaternion-based unscented Kalman filter for orientation tracking, Proceedings of the Sixth International Conference of Information Fusion, vol.1, pp.47-54, 2003.

V. Kumar and N. Michael, Opportunities and challenges with autonomous micro aerial vehicles, The International Journal of Robotics Research, vol.31, pp.1279-1291, 2012.

M. Steven and J. Lavalle, Randomized kinodynamic planning, The international journal of robotics research, vol.20, p.176, 2001.

T. Lee, M. Leoky, and N. H. Mcclamroch, Geometric tracking control of a quadrotor UAV on SE(3), 49th IEEE Conf. on Decision and Control

G. A. Atlanta, , pp.5420-5425, 2010.

T. Lee, Geometric controls for a tethered quadrotor UAV, 2015 54th IEEE Conference on Decision and Control (CDC), pp.2749-2754, 2015.

H. Lee, H. Kim, and H. J. Kim, Planning and control for collision-free cooperative aerial transportation, IEEE Transactions on Automation Science and Engineering, 2016.

R. C. Leishman, J. C. Macdonald, R. W. Beard, and T. W. Mclain, Quadrotors and accelerometers: State estimation with an improved dynamic model, IEEE Control Systems, vol.34, pp.28-41, 2014.

Y. Li, Z. Littlefield, and K. E. Bekris, Asymptotically optimal sampling-based kinodynamic planning, The International Journal of Robotics Research, vol.35, pp.528-564, 2016.

H. P. Liu, D. L. Anderson, H. J. Kanamori-;-d, and . Cappelleri, Velocity dispersion due to anelasticity; implications for seismology and mantle composition, Advances in Mechanisms, Robotics and Design Education and Research, vol.47, pp.215-226, 1976.

S. Lupashin and R. D'andrea, Stabilization of a Flying Vehicle on a Taut Tether using Inertial Sensing, 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2432-2438, 2013.

K. M. Lynch and F. C. Park, Modern Robotics: Mechanics, Planning, and Control, vol.22, p.20, 2017.

R. Mahony, T. Hamel, and J. Pflimlin, Nonlinear Complementary Filters on the Special Orthogonal Group, IEEE Trans. on Automatic Control, vol.53, pp.1203-1218, 2008.
URL : https://hal.archives-ouvertes.fr/hal-00488376

R. Mahony, V. Kumar, and P. Corke, Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor, IEEE Robotics & Automation Magazine, vol.19, pp.20-32, 2012.

M. Manubens, D. Devaurs, L. Ros, and J. Cortés, Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems, Robotics: Science and Systems, vol.167, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00872234

;. R. Marino, P. Marino, and . Tomei, Nonlinear Control Design: Geometric, Adaptive and Robust, 1996.

P. Martin, S. Devasia, and B. Paden, A different look at output tracking: control of a VTOL aircraft, Proceedings of the 33rd IEEE Conference on, vol.3, pp.2376-2381, 1994.

P. Martin, S. Devasia, and B. Paden, A different look at output tracking: control of a VTOL aircraft, Automatica, vol.32, p.111, 1996.

]. P. Martin-2010, E. Martin, and . Salaün, The True Role of Accelerometer Feedback in Quadrotor Control, 2010 IEEE Int. Conf. on Robotics and Automation, pp.1623-1629, 2010.

C. Masone, H. H. Bülthoff, and P. Stegagno, Cooperative transportation of a payload using quadrotors: A reconfigurable cable-driven parallel robot, 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, p.167, 2016.

;. I. Bibliography, K. Maza, M. Kondak, A. Bernard, and . Ollero, Multi-UAV cooperation and control for load transportation and deployment, Journal of Intelligent & Robotics Systems, vol.57, issue.1-4, pp.417-449, 2010.

]. D. Mellinger-2010, M. Mellinger, N. Shomin, V. Michael, and . Kumar, Cooperative grasping and transport using multiple quadrotors, 10th Int. Symp. on Distributed Autonomous Robotic Systems, pp.545-558, 2010.

]. D. Mellinger-2011a, V. Mellinger, and . Kumar, Minimum Snap Trajectory Generation and Control for Quadrotors, 2011 IEEE Int. Conf. on Robotics and Automation, pp.2520-2525, 2011.

]. D. Mellinger-2011b, Q. Mellinger, M. Lindsey, V. Shomin, and . Kumar, Design, modeling, estimation and control for aerial grasping and manipulation, 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2668-2673, 2011.

D. Mellinger, N. Michael, and V. Kumar, Trajectory generation and control for precise aggressive maneuvers with quadrotors, The International Journal of Robotics Research, vol.31, p.111, 2012.

D. Mellinger, M. Shomin, N. Michael, and V. Kumar, Cooperative grasping and transport using multiple quadrotors, Int. Symp. on Distributed Autonomous Robotic Systems, p.167, 2013.

A. Y. Mersha, S. Stramigioli, and R. Carloni, Exploiting the dynamics of a robotic manipulator for control of UAVs, Robotics and Automation (ICRA), pp.1741-1746, 2014.

K. Mohta, V. Kumar, and K. Daniilidis, Vision-based control of a quadrotor for perching on lines, 2014 IEEE Int. Conf. on Robotics and Automation, p.117, 2014.

P. Morin, Modeling and control of convertible Micro Air Vehicles, Robot Motion and Control (RoMoCo), pp.188-198, 2015.

M. W. Mueller, M. Hehn, and R. D'andrea, A computationally efficient algorithm for state-to-state quadrocopter trajectory generation and feasibility verification, 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, vol.116, p.111, 2013.

. M. Murray-1994]-r, Z. Murray, S. S. Li, and . Sastry, A mathematical introduction to robotic manipulation, CRC, p.849379814, 1994.

. M. Murray-1995]-r, M. Murray, W. Rathinam, and . Sluis, Differential Flatness of Mechanical Control Systems: A Catalog of Prototype Systems, ASME Int. Mechanical Eng. Congress and Exposition, vol.62, p.23, 1995.

G. Muscio, F. Pierri, M. A. Trujillo, E. Cataldi, G. Giglio et al., Experiments on coordinated motion of aerial robotic manipulators, IEEE Int, 2016.

, Conf. on Robotics and Automation, pp.1224-1229, 2016.

F. Muttin, Umbilical deployment modeling for tethered UAV detecting oil pollution from ship, Applied Ocean Research, vol.33, pp.332-343, 2011.

H. Nguyen and D. Lee, Hybrid Force/Motion Control and Internal Dynamics of Quadrotors for Tool Operation, 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3458-3464, 2013.

H. Nguyen, S. Park, and D. J. Lee, Aerial Tool Operation System using Quadrotors as Rotating Thrust Generators, 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, p.167, 2015.

M. M. Nicotra, R. Naldi, and E. Garone, Taut Cable Control of a Tethered UAV, 19th IFAC World Congress. Cape Town, pp.3190-3195, 2014.

M. M. Nicotra, R. Naldi, and E. Garone, Nonlinear control of a tethered UAV: The taut cable case, Automatica, vol.78, pp.174-184, 2017.

A. Nikou, G. C. Gavridis, and K. J. Kyriakopoulos, Mechanical design, modelling and control of a novel aerial manipulator, 2015 IEEE Int. Conf. on Robotics and Automation, pp.4698-4703, 2015.

S. Oh, K. Pathak, S. K. Agrawal, H. R. Pota, and M. Garrett, Approaches for a tether-guided landing of an autonomous helicopter, IEEE Trans. on Robotics, vol.22, issue.3, p.41, 2006.

A. Ollero and L. Merino, Control and perception techniques for aerial robotics, Annual reviews in Control, vol.28, pp.167-178, 2004.

G. Oriolo, A. De-luca, and M. Vendittelli, WMR control via dynamic feedback linearization: Design, implementation, and experimental validation, IEEE Trans. on Control Systems Technology, vol.10, pp.835-852, 2002.

;. I. Bibliography, P. Palunko, R. Cruz, and . Fierro, Agile load transportation: Safe and efficient load manipulation with aerial robots, IEEE robotics & automation magazine, vol.19, issue.3, pp.69-79, 2012.

I. Palunko, A. Faust, P. Cruz, L. Tapia, and R. Fierro, A reinforcement learning approach towards autonomous suspended load manipulation using aerial robots, Robotics and Automation (ICRA), pp.4896-4901, 2013.

S. Park, J. J. Her, J. Kim, and D. Lee, Design, Modeling and Control of Omni-Directional Aerial Robot, 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1570-1575, 2016.

M. F. Pinkney, D. Hampel, and S. Dipierro, Unmanned Aerial Vehicle (UAV) Communications Relay, Military Communications Conference, vol.1, pp.47-51, 1996.

H. Plinval, P. Morin, P. Mouyon, and T. Hamel, Visual servoing for underactuated VTOL UAVs: a linear, homography-based framework, In: International Journal of Robust and Nonlinear Control, vol.24, pp.2285-2308, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01342064

P. E. Pounds, R. Mahony, and P. Corke, Modeling and Control of a Large Quadrotor Robot, Control Engineering Practice, vol.18, pp.691-699, 2010.

D. Pucci, T. Hamel, P. Morin, and C. Samson, Nonlinear control of aerial vehicles subjected to aerodynamic forces, Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on, pp.4839-4846, 2013.
URL : https://hal.archives-ouvertes.fr/hal-01343130

M. H. Raibert and J. J. Craig, Hybrid position/force control of manipulators, Journal of Dynamic Systems, Measurement, and Control, vol.103, pp.126-133, 1981.

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 Int. Conf. on Robotics and Automation, pp.4006-4013, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01134829

G. G. Rigatos, Nonlinear control and filtering using differential flatness approaches: applications to electromechanical systems, vol.25, p.23, 2015.

R. Ritz and R. D'andrea, Carrying a flexible payload with multiple flying vehicles, 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3465-3471, 2013.

H. Romero, S. Salazar, A. Sanchez, and R. Lozano, A new UAV configuration having eight rotors: dynamical model and real-time control, 46th IEEE Conf. on Decision and Control, pp.6418-6423, 2007.
URL : https://hal.archives-ouvertes.fr/hal-00449897

P. Rouchon, M. Fliess, J. Levine, and P. Martin, Flatness and motion planning: the car with n trailers, European Control Conference, pp.1518-1522, 1993.

F. Ruggiero, M. A. Trujillo, R. Cano, H. Ascorbe, A. Viguria et al., A multilayer control for multirotor UAVs equipped with a servo robot arm, Robotics and Automation (ICRA), pp.4014-4020, 2015.

F. Ruggiero, V. Lippiello, and A. Ollero, Aerial Manipulation: A Literature Review, IEEE Robotics and Automation Letters, vol.3, issue.184, pp.1957-1964, 2018.

M. Ryll, H. H. Bülthoff, and P. R. Giordano, A novel overactuated quadrotor unmanned aerial vehicle: modeling, control, and experimental validation, IEEE Trans. on Control Systems Technology, vol.23, pp.540-556, 2015.

M. Ryll, D. Bicego, and A. Franchi, Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor, p.2016
URL : https://hal.archives-ouvertes.fr/hal-01348538

I. Int, Conf. on Intelligent Robots and Systems, vol.213, p.152, 2016.

M. Ryll, G. Muscio, F. Pierri, E. Cataldi, G. Antonelli et al., 6D Physical Interaction with a Fully Actuated Aerial Robot, 2017 IEEE Int. Conf. on Robotics and Automation, pp.5190-5195, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01476814

J. Sanchez-lopez, V. Arellano-quintana, M. Tognon, P. Campoy, and A. Franchi, Visual Marker based Multi-Sensor Fusion State Estimation, 20th IFAC World Congress, pp.16003-16008, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01501980

]. L. Sandino, M. Bejar, K. Kondak, and A. Ollero, Advances in Modeling and Control of Tethered Unmanned Helicopters to Enhance Hovering Performance, Journal of Intelligent & Robotics Systems, vol.73, issue.1-4, pp.3-18, 2014.

L. Sandino, D. Santamaria, M. Bejar, A. Viguria, K. Kondak et al., Tether-guided landing of unmanned helicopters without GPS sensors, 2014 IEEE Int. Conf. on Robotics and Automation. Hong Kong, pp.3096-3101, 2014.

;. L. Bibliography, M. Sandino, K. Bejar, A. Kondak, and . Ollero, A SquareRoot Unscented Kalman Filter for attitude and relative position estimation of a tethered unmanned helicopter, Unmanned Aircraft Systems (ICUAS), 2015 International Conference on. IEEE. 2015, pp.567-576

V. Sangwan and S. K. , Differentially Flat Design of Bipeds Ensuring Limit Cycles, IEEE/ASME Trans. on Mechatronics, vol.14, issue.6, pp.647-657, 2009.

G. G. Scandaroli, P. Morin, and G. Silveira, A nonlinear observer approach for concurrent estimation of pose, IMU bias and camera-toIMU rotation, Intelligent Robots and Systems (IROS), pp.3335-3341, 2011.

G. Glauco, P. Scandaroli, and . Morin, Nonlinear filter design for pose and IMU bias estimation, Robotics and Automation (ICRA), 2011 IEEE International Conference on, pp.4524-4530, 2011.

A. Shkolnik and R. Tedrake, High-dimensional underactuated motion planning via task space control, 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, vol.177, p.176, 2008.

B. Siciliano and O. Khatib, Handbook of Robotics, p.9783540382195, 2008.

B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control, 2009.

J. J. Slotine and W. Li, Applied nonlinear control, p.9780130408907, 1991.

R. Spica, A. Franchi, G. Oriolo, H. H. Bülthoff, and P. R. Giordano, Aerial Grasping of a Moving Target with a Quadrotor UAV, 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Vilamoura, Portugal, pp.4985-4992, 2012.

M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot modeling and control, vol.3, p.20, 2006.

K. Sreenath and V. Kumar, Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots, Robotics: Science and Systems, 2013.

K. Sreenath, T. Lee, and V. Kumar, Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load, Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on, pp.2269-2274, 2013.

K. Sreenath, N. Michael, and V. Kumar, Trajectory generation and control of a quadrotor with a cable-suspended load-a differentially-flat hybrid system, Robotics and Automation (ICRA), vol.30, pp.4888-4895, 2013.

N. Staub, M. Mohammadi, D. Bicego, D. Prattichizzo, and A. Franchi, Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems, 2017 IEEE Int. Conf. on Robotics and Automation, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01476813

N. Staub, D. Bicego, Q. Sablé, V. Arellano-quintana, S. Mishra et al., Towards a Flying Assistant Paradigm: the OTHex, 2018 IEEE Int. Conf. on Robotics and Automation, pp.6997-7002, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01716845

M. Stilman, Global Manipulation Planning in Robot Joint Space With Task Constraints, IEEE Trans. on Robotics, vol.26, p.176, 2010.

A. Tagliabue, M. Kamel, S. Verling, R. Siegwart, and J. Nieto, Collaborative transportation using MAVs via passive force control, 2017 IEEE Int. Conf. on Robotics and Automation, pp.5766-5773, 2016.

C. P. Tang, P. T. Miller, V. N. Krovi, J. Ryu, and S. K. , Differential-flatness-based planning and control of a wheeled mobile manipulator-Theory and experiment, IEEE/ASME Transactions on Mechatronics, vol.16, pp.768-773, 2011.

J. Thomas, J. Polin, K. Sreenath, and V. Kumar, Avian-Inspired Grasping for Quadrotor Micro UAVs, 2013 ASME Int. Design Engineering Technical Conf. and Computers and Information in Engineering Conf, vol.158, p.157, 2013.

]. M. Tognon and A. Franchi, Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots, 14th European Control Conference, pp.1620-1625, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01137736

]. M. Tognon and A. Franchi, Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots, 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1852-1857, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01182759

]. M. Tognon and A. Franchi, Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements, 2015 IEEE Int. Conf. on Robotics and Automation, pp.3994-3999, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01124450

M. Tognon, S. S. Dash, and A. Franchi, Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform, IEEE Robotics and Automation Letters, vol.1, issue.2, pp.732-737, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01285318

]. M. Tognon, A. Testa, E. Rossi, and A. Franchi, Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot, 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1702-1707, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01350883

]. M. Tognon and A. Franchi, Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars, IEEE Trans. on Robotics, vol.33, pp.834-845, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01483524

M. Tognon and A. Franchi, Landing and Take-off on/from Sloped and Non-planar Surfaces with more than 50 Degrees of Inclination, 9th International Micro Air Vehicles Conference, pp.97-102, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01673466

]. M. Tognon and A. Franchi, Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform, 20th IFAC World Congress, pp.1069-1074, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01501919

M. Tognon, C. Gabellieri, L. Pallottino, and A. Franchi, Extended Abstract on Communication-less Aerial Co-Manipulation with Cables and the Fundamental role of Internal Force, Poster session of the 1st Int. Symp. on Multi-Robot and Multi-Agent Systems, p.18, 2017.

M. Tognon, B. Yüksel, G. Buondonno, and A. Franchi, Dynamic Decentralized Control for Protocentric Aerial Manipulators, 2017 IEEE Int. Conf. on Robotics and Automation, pp.6375-6380, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01476817

M. Tognon, B. Yüksel, G. Buondonno, and A. Franchi, Explicit Computations, Simulations and additional Results for the Dynamic Decentralized Control for Protocentric Aerial Manipulators
URL : https://hal.archives-ouvertes.fr/hal-01474695

M. Tognon, E. Cataldi, H. Tello-chavez, G. Antonelli, J. Cortés et al., Control-Aware Motion Planning for Task-Constrained Aerial Manipulation, Poster session of ICRA2018 Workshop on Aerial Monitoring & Maintenance, p.18, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01704127

M. Tognon, E. Cataldi, H. Tello-chavez, G. Antonelli, J. Cortés et al., Control-Aware Motion Planning for Task-Constrained Aerial Manipulation, IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol.3, pp.2478-2484, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01704127

]. M. Tognon and A. Franchi, Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Theory, Optimal Design, and Control, IEEE Robotics and Automation Letters, vol.3, pp.2277-2282, 2018.
DOI : 10.1109/lra.2018.2802544

M. Tognon, C. Gabellieri, L. Pallottino, and A. Franchi, Aerial Co-Manipulation with Cables: The Role of Internal Force for Equilibria, Stability, and Passivity, Poster session of ICRA2018 Workshop on Aerial Monitoring & Maintenance, p.18, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01551105

M. Tognon, C. Gabellieri, L. Pallottino, and A. Franchi, 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, pp.2577-2583, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01551105

M. Tognon, H. A. Tello-chávez, E. Gasparin, Q. Sablé, D. Bicego et al., A Truly Redundant Aerial Manipulator System with Application to Push-and-Slide Inspection in Industrial Plants, IEEE Robotics and Automation Letters, 2019.
URL : https://hal.archives-ouvertes.fr/hal-01910343

K. P. Valavanis, Intelligent Systems, Control and Automation: Science and Engineering, Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy, vol.33, 2007.

K. P. Valavanis and G. J. Vachtsevanos, Future of unmanned aviation, Handbook of unmanned aerial vehicles, pp.2993-3009, 2015.
DOI : 10.1007/978-90-481-9707-1_95

, and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot, vol.128, p.90, 2016.

, Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform

, Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements, 2015 (cited on page 98). of Bi-Tethered Multi Aerial Robots, vol.3, p.145

, Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Theory, Optimal Design, and Control

, Decentralized Control for Protocentric Aerial Manipulators, p.162, 2018.

, Co-Manipulation with Cables: The Role of Internal Force for Equilibria, p.172, 2018.

, Aware Motion Planning for Task-Constrained Aerial Manipulation, p.179

, Truly Redundant Aerial Manipulator System with Application to Push-and-Slide Inspection in Industrial Plants, vol.188, p.183, 2018.

Z. Wang and M. Schwager, Force-Amplifying N-robot Transport System (Force-ANTS) for cooperative planar manipulation without communication, The International Journal of Robotics Research, vol.35, p.167, 2016.
DOI : 10.1177/0278364916667473

H. Yang and D. J. Lee, Dynamics and Control of Quadrotor with Robotic Manipulator, 2014 IEEE Int. Conf. on Robotics and Automation. Hong Kong, pp.5544-5549, 2014.

H. Yang and D. Lee, Hierarchical cooperative control framework of multiple quadrotor-manipulator systems, 2015 IEEE Int. Conf. on Robotics and Automation, pp.4656-4662, 2015.
DOI : 10.1109/icra.2015.7139844

B. Yüksel, C. Secchi, H. H. Bülthoff, and A. Franchi, Aerial Physical Interaction via Reshaping of the Physical Properties: Passivity-based Control Methods for Nonlinear Force Observers, ICRA 2014 Workshop: Aerial robots physically interacting with the environment, 2014.

B. Yüksel, S. Mahboubi, C. Secchi, H. H. Bülthoff, and A. Franchi, Design, Identification and Experimental Testing of a Light-Weight Flexiblejoint Arm for Aerial Physical Interaction, 2015 IEEE Int. Conf. on Robotics and Automation, p.157, 2015.

]. 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 Int. Conf. on Intelligent Robots and Systems, pp.561-566, 2016.

]. B. Yüksel, N. Staub, and A. Franchi, Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments, 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1667-1672, 2016.

O. C. Zienkiewicz and R. L. Taylor, The finite element method for solid and structural mechanics, 2005.