Publications of Marco Tognon

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Books

1. M. Tognon, A. Franchi. Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers. Springer Tracts in Advanced Robotic, 2020.

Academic Journals

1. A. Gonzalez-Morgado, E. Cuniato, M. Tognon, G. Heredia, R. Siegwart, A. Ollero. Controlled Shaking of Trees With an Aerial Manipulator. IEEE/ASME Transactions on Mechatronics, To appear, 2025.
2. S. Bamert, R. Cathomen, N. Gorlo, G. Kappeli, M.S. Muller, T. Reinhart, H. Stadler, H. Shen, E. Cuniato, M. Tognon, R. Siegwart. Geranos: A Novel Tilted-Rotors Aerial Robot for the Transportation of Poles. IEEE Robotics & Automation Magazine, 31(2):66-77, June 2024.
3. G. Malczyk, M. Brunner, E. Cuniato, M. Tognon, R. Siegwart. Multi-directional Interaction Force Control with an Aerial Manipulator Under External Disturbances. Autonomous Robots, 47:1325-1343, December 2023.
4. C. Gabellieri, M. Tognon, D. Sanalitro, A. Franchi. Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty. IEEE Transactions on Robotics, 39(5):3977-3993, October 2023.
5. G. Rizzi, J.J. Chung, A. Gawel, L. Ott, M. Tognon, R. Siegwart. Robust Sampling-Based Control of Mobile Manipulators for Interaction With Articulated Objects. IEEE Transactions on Robotics, 39(3):1929-1946, June 2023.
6. E. Rossi, M. Tognon, L. Ballotta, R. Carli, J. Cortés, A. Franchi, L. Schenato. Coordinated Multi-Robot Trajectory Tracking Control over Sampled Communication $\star$. Automatica, 151:110941, May 2023.
7. M .Brunner, G. Rizzi, M. Studiger, R. Siegwart, M. Tognon. A Planning-and-Control Framework for Aerial Manipulation of Articulated Objects. IEEE Robotics and Automation Letters, 7(4):10689-10696, 2022.
8. W. Zhang, L. Ott, M. Tognon, R. Siegwart. Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing. IEEE Robotics and Automation Letters, 7(4):11275-11282, 2022.
9. A.E. Jiménez-Cano, D. Sanalitro, M. Tognon, A. Franchi, J. Cortés. Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System. Journal of Intelligent & Robotic Systems, 105(3):1-13, 2022.
10. F. Bezi, M. Brunner, M. Tognon, C. Secchi, R. Siegwart. Adaptive Tank-based Control for Aerial Physical Interaction with Uncertain Dynamic Environments Using Energy-Task Estimation. IEEE Robotics and Automation Letters, 7(4):9129-9136, 2022.
11. E. Cuniato, N. Lawrance, M. Tognon, R. Siegwart. Power-Based Safety Layer for Aerial Vehicles in Physical Interaction Using Lyapunov Exponents. IEEE Robotics and Automation Letters, 7(3):6774-6781, 2022.
12. D. Sanalitro, M. Tognon, A.E. Jiménez-Cano, J. Cortès, A. Franchi. Indirect Force Control of a Cable-Suspended Aerial Multi-Robot Manipulator. IEEE Robotics and Automation Letters, 7(3):6726-6733, 2022.
13. M. Allenspach, Y. Vyas, M. Rubio, R. Siegwart, M. Tognon. Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction. IEEE Robotics and Automation Letters, 7(2):2827-2834, 2022.
14. A. Ollero, M. Tognon, A. Suarez, D. J. Lee, A. Franchi. Past, Present, and Future of Aerial Robotic Manipulators. IEEE Transactions on Robotics, 38(1):626-645, 2022.
15. K. Bodie, M. Tognon, R. Siegwart. Dynamic End Effector Tracking With an Omnidirectional Parallel Aerial Manipulator. IEEE Robotics and Automation Letters, 6(4):8165-8172, 2021.
16. M. Hamandi, F. Usai, Q. Sable, N. Staub, M. Tognon, A. Franchi. Design of Multirotor Aerial Vehicles: a Taxonomy Based on Input Allocation. Int. Journal of Robotics Research, 40(8):1015-1044, 2021.
17. M. Tognon, R. Alami, B. Siciliano. Physical Human-Robot Interaction With a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem. IEEE Transactions on Robotics, 37(3):723-734, 2021.
18. D. Sanalitro, H. J. Savino, M. Tognon, J. Cortés, A. Franchi. Full-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties. IEEE Robotics and Automation Letters, 5(2):2185-2191, 2020.
19. G. Nava, Q. Sablé, M. Tognon, D. Pucci, A. Franchi. Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators. IEEE Robotics and Automation Letters, 5(2):331-338, 2020.
20. C. Gabellieri, M. Tognon, D. Sanalitro, L. Palottino, A. Franchi. A Study on Force-based Collaboration in Swarms. Swarm Intelligence, 14:57-82, 2020.
21. E. Rossi, M. Tognon, R. Carli, L. Schenato, J. Cortés, A. Franchi. Cooperative Aerial Load Transportation via Sampled Communication. IEEE Control Systems Letters, 4(2):277-282, 2019.
22. M. Tognon, H. A. Tello Ch\'avez, E. Gasparin, Q. Sablé, D. Bicego, A. Mallet, M. Lany, G. Santi, B. Revaz, J. Cortés, A. Franchi. A Truly Redundant Aerial Manipulator System with Application to Push-and-Slide Inspection in Industrial Plants. IEEE Robotics and Automation Letters, 4(2):1846-1851, 2019.
23. M. Tognon, E. Cataldi, H. Tello Chavez, G. Antonelli, J. Cortés, A. Franchi. Control-Aware Motion Planning for Task-Constrained Aerial Manipulation. IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, 3(3):2478-2484, 2018.
24. M. Tognon, C. Gabellieri, L. Pallottino, 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, 3(3):2577-2583, 2018.
25. M. Tognon, A. Franchi. Omnidirectional Aerial Vehicles with Unidirectional Thrusters: Theory, Optimal Design, and Control. IEEE Robotics and Automation Letters, 3(3), 2018.
26. M. Tognon, A. Franchi. Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars. IEEE Trans. on Robotics, 33(4):834-845, April 2017.
27. M. Tognon, S. S. Dash, A. Franchi. Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform. IEEE Robotics and Automation Letters, 1(2):732-737, July 2016.

International Conferences

1. T. Hui, E. Cuniato, M. Pantic, M. Tognon, M. Fumagalli, R. Siegwart. Passive Aligning Physical Interaction of Fully-Actuated Aerial Vehicles for Pushing Tasks. In IEEE Int. Conf. on Robotics and Automation, ICRA 2024 , Pages 6152-6158, Yokohama, Japan, May 2024.
2. M. Allenspach, S. Laasch, N. Lawrance, M. Tognon, R. Siegwart. 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), Pages 395-400, 2023.
3. B. Hallworth, M. Allenspach, R. Siegwart, M. Tognon. 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), Pages 183-190, 2023.
4. M. Rubio, J. Näf, F. Bühlmann, P. Brigger, M. Hüsser, M. Inauen, N. Ospelt, D. Gisler, M. Tognon, R. Siegwart. Design of PrisMAV: An Omnidirectional Aerial Manipulator based on a 3-PUU Parallel Mechanism. In 2023 International Conference on Unmanned Aircraft Systems (ICUAS), Pages 608-615, 2023.
5. M. Allenspach, T. Kötter, R. Bähnemann, M. Tognon, R. Siegwart. 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), Pages 1168-1174, 2023.
6. E. Cuniato, C. Geckeler, M. Brunner, D. Strübin, E. Bähler, F. Ospelt, M. Tognon, S. Mintchev, R. Siegwart. Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
7. E. Cuniato, I. Geles, W. Zhang, O. Andersson, M. Tognon, R. Siegwart. Learning to Open Doors with an Aerial Manipulator. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2023, Pages 6942-6948, Michigan, United States, October 2023.
8. B. Hallworth, M. Allenspach, R. Siegwart, M. Tognon. State-Aware Path-Following with Humans Through Force-based Communication via Tethered Physical Aerial Human-Robot Interaction. In 2023 Int.l Conf. on Unmanned Aircraft Systems (ICUAS), Pages 183-190, Warsaw, Poland, June 2023.
9. L. Shi, M. Pantic, O. Andersson, M. Tognon, R. Siegwart, R. H. Jacobsen. Reactive Motion Planning for Rope Manipulation and Collision Avoidance using Aerial Robots. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Volume, Pages 3384-3391, 2022.
10. C. Lanegger, M. Ruggia, M. Tognon, L. Ott, R. Siegwart. 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, 2022.
11. M. Allenspach, N. Lawrance, M. Tognon, R. Siegwart. Towards 6DoF Bilateral Teleoperation of an Omnidirectional Aerial Vehicle for Aerial Physical Interaction. In 2022 International Conference on Robotics and Automation (ICRA), Volume, Pages 9302-9308, 2022.
12. M. Brunner, L. Giacomini, R. Siegwart, M. Tognon. Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects. In 2022 International Conference on Robotics and Automation (ICRA), Volume, Pages 2054-2060, 2022.
13. R. Sz\'asz, M. Allenspach, M. Han, M. Tognon, R. K. Katzschmann. 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), Pages 1-8, 2022.
14. M. Hamandi, Q. Sable, M. Tognon, A. Franchi. Understanding the Omnidirectional Capability of a Generic Multi-rotor Aerial Vehicle. In Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Biograd na Moru, Croatia, 2021.
15. Y. Vyas, M. Allenspach, C. Lanegger, R. Siegwart, M. Tognon. Modelling and estimation of human walking gait for physical human-robot interaction. In 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Pages 1-4, 2021.
16. L. Peric, M. Brunner, K. Bodie, M. Tognon, R. Siegwart. Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-and-Slide Operations. In 2021 IEEE International Conference on Robotics and Automation (ICRA), Pages 131-137, 2021.
17. W. Zhang, M. Tognon, L. Ott, R. Siegwart, J. Nieto. Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots. In IEEE Int. Conf. on Robotics and Automation, Xi\textquoterightan, China, 2021.
18. E. Umili, M. Tognon, D. Sanalitro, G. Oriolo, A. Franchi. Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs. In 2020 Int. Conf. on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020.
19. M. Hamandi, K. Sawant, M. Tognon, A. Franchi. Omni-Plus-Seven (O$^7_+$): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-directional Thrusters. In 2020 Int. Conf. on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020.
20. A. Petitti, D. Sanalitro, M. Tognon, A. Milella, J. Cortés, A. Franchi. Inertial Estimation and Energy-Efficient Control of a Cable-suspended Load with a Team of UAVs. In 2020 Int. Conf. on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020.
21. C. Gabellieri, M. Tognon, L. Palottino, A. Franchi. A Study on Force-based Collaboration in Flying Swarms. In 11th International Conference on Swarm Intelligence, Pages 3-15, Rome, Italy, 2018.
22. M. Tognon, A. Franchi. 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, Pages 97-102, Toulouse, France, 2017.
23. M. Tognon, A. Franchi. Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform. In 20th IFAC World Congress, Pages 1069-1074, Toulouse, France, 2017.
24. J.-L. Sanchez-Lopez, V. Arellano-Quintana, M. Tognon, P. Campoy, A. Franchi. Visual Marker based Multi-Sensor Fusion State Estimation. In 20th IFAC World Congress, Pages 16003-16008, Toulouse, France, 2017.
25. M. Tognon, B. Yüksel, G. Buondonno, A. Franchi. Dynamic Decentralized Control for Protocentric Aerial Manipulators. In Int. Conf. on Robotics and Automation, Pages 6375-6380, Singapore, May 2017.
26. M. Tognon, A. Testa, E. Rossi, A. Franchi. Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Pages 1702-1707, Daejeon, South Korea, 2016.
27. M. Tognon, A. Franchi. Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Pages 1852-1857, Hamburg, Germany, 2015.
28. M. Tognon, A. Franchi. Control of Motion and Internal Stresses for a Chain of Two Underactuated Aerial Robots. In European Conf. on Control, Pages 1614-1619, Linz, Austria, 2015.
29. M. Tognon, A. Franchi. Nonlinear Observer-based Tracking Control of Link Stress and Elevation for a Tethered Aerial Robot using Inertial-only Measurements. In Int. Conf. on Robotics and Automation, Pages 3994-3999, Seattle, WA, May 2015.

Thesis

1. M. Tognon. Theory and Applications for Control and Motion Planning for Aerial Robots in Physical Interaction with particular focus on Tethered Aerial Vehicles. PhD Thesis lnstitut National des Sciences Appliquées de Toulouse (INSA de Toulouse), July 2018.

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