Publications 2024

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Books

1. H. Kajimoto, P. Lopes, C. Pacchierotti, C. Basdogan, M. Gori, B. Lemaire-Semail, M. Marchal (eds.). Haptics: Understanding Touch; Technology and Systems; Applications and Interaction. 14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2024, Lecture Notes in Computer Science 14768 + 14769, November 2024.

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, 2024.
2. L. Mulot, T. Howard, G. Gicquel, C. Pacchierotti, M. Marchal. Bimanual Ultrasound Mid-Air Haptics for Virtual Reality Manipulation. IEEE Transactions on Visualization and Computer Graphics, To appear, 2024.
3. A. Marino, C. Pacchierotti, P. Robuffo Giordano. Input State Stability of Gated Graph Neural Networks. IEEE Transactions on Control of Network Systems, To appear, 2024.
4. C. Pacchierotti, D. Prattichizzo. Cutaneous/Tactile Haptic Feedback in Robotic Teleoperation: Motivation, Survey, and Perspectives. IEEE Transactions on Robotics, 40:978-998, 2024.
5. A. Srour, A. Franchi, P. Robuffo Giordano, M. Cognetti. Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty. IEEE Robotics and Automation Letters, December 2024.
6. L. Smolentsev, A. Krupa, F. Chaumette. Shape visual servoing of a cable suspended between two drones. IEEE Robotics and Automation Letters (also presented at IROS 2025) , 9(12):11473-11480, December 2024.
7. A. Afifi, T. Belvedere, A. Pupa, P. Robuffo Giordano, A. Franchi. Safe and Robust Planning for Uncertain Robots: A Closed-Loop State Sensitivity Approach. IEEE Robotics and Automation Letters, 9(11):9962-9969, November 2024.
8. S. Wasiela, M. Cognetti, P. Robuffo Giordano, J. Cortés, T. Simeon. Robust Motion Planning with Accuracy Optimization based on Learned Sensitivity Metrics. IEEE Robotics and Automation Letters, 9(11):10113-10120, November 2024.
9. M. Ferro, F. Piñan Basualdo, P. Robuffo Giordano, S. Misra, C. Pacchierotti. Experimental Evaluation of Haptic Shared Control for Multiple Electromagnetic Untethered Microrobots. IEEE Transactions on Automation Science and Engineering, October 2024.
10. M. Robic, R. Fraisse, E. Marchand, F. Chaumette. QP-based Visual Servoing Under Motion Blur-Free Constraint. IEEE Robotics and Automation Letters (also presented at ICRA'25), 9(10):8738-8745, October 2024.
11. J. Thomas, F. Chaumette. Positioning in Congested Space by Combining Vision-based and Proximity-based Control. IEEE Robotics and Automation Letters (also presented at ICRA'25), 9(10):8362-8369, October 2024.
12. A. Marino, C. Pacchierotti, P. Robuffo Giordano. Multi-UAVs end-to-end Distributed Trajectory Generation over Point Cloud Data. IEEE Robotics and Automation Letters, 9(9):7629-7636, September 2024.
13. J. E. Aguilar-Segovia, M. Manzano, S. Guégan, R. Le Breton, A. Farhi-Rivasseau, S. Lefebvre, M. Babel. Multi-Material Torque Sensor Embedding One-Shot 3D-Printed Deformable Capacitive Structures. IEEE Sensors Letters, 8(9):2503204, September 2024.
14. P.-A. Cabaret, T. Howard, G. Gicquel, C. Pacchierotti, M. Babel, M. Marchal. Does Multi-Actuator Vibrotactile Feedback Within Tangible Objects Enrich VR Manipulation?. IEEE Transactions on Visualization and Computer Graphics, 30(8):4767-4779, August 2024.
15. M. Fonkoua Ouafo, F. Chaumette, A. Krupa. Deformation Control of a 3D Soft Object using RGB-D Visual Servoing and FEM-based Dynamic Model. IEEE Robotics and Automation Letters (also presented at ICRA 2025), 9(8):6943-6950, August 2024.
16. E. Bouzbib, M. Teyssier, T. Howard, C. Pacchierotti, A. Lecuyer. PalmEx: Adding Palmar Force-Feedback for 3D Manipulation with Haptic Exoskeleton Gloves. IEEE Trans. on Visualization and Computer Graphics, 30(7):3973-3980, July 2024.
17. A. Colotti, J. Garcia Fontan, A. Goldsztejn, S. Briot, F. Chaumette, O. Kermorgant, M. Safey El Din. Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing. IEEE Trans. on Robotics (also presented at ICRA'25), 40:3406-3424, July 2024.
18. N. De Carli, E. Restrepo, P. Robuffo Giordano. Adaptive Observer From Body-Frame Relative Position Measurements for Cooperative Localization. IEEE Control Systems Letters, 8:1337-1342, June 2024.
19. 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.
20. L. Kuang, M. Malvezzi, M. Ferro, D. Prattichizzo, P. Robuffo Giordano, F. Chinello, C. Pacchierotti. A 4-DoF Wearable Hand Device for Haptic Rendering of Surfaces and Edges. Mechatronics, 99:103173, May 2024.
21. B. Fraudet, E. Leblong, P. Piette, B. Nicolas, V. Gouranton, M. Babel, L. Devigne, F. Pasteau, P. Gallien. Evaluation of power wheelchair driving performance in simulator compared to driving in real-life situations: the SIMADAPT (simulator ADAPT) project-a pilot study. Journal of NeuroEngineering and Rehabilitation, 21(1):60, April 2024.
22. U. Radhakrishnan, L. Kuang, K. Koumaditis, F. Chinello, C. Pacchierotti. Haptic Feedback, Performance and Arousal: A Comparison Study in an Immersive VR Motor Skill Training Task. IEEE Trans. on Haptics, 17(2):249-262, April 2024.
23. L. Kuang, M. Ferro, M. Malvezzi, D. Prattichizzo, P. Robuffo Giordano, F. Chinello, C. Pacchierotti. A Wearable Haptic Device for the Hand with Interchangeable End-Effectors. IEEE Trans. on Haptics , 17(2):129-139, April 2024.
24. E. Normand, C. Pacchierotti, E. Marchand, M. Marchal. Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality. IEEE Transactions on Haptics), 17(2):277-291, April 2024.
25. T. Noël, A. Lehuger, E. Marchand, F. Chaumette. Skeleton Disk-Graph Roadmap: a Sparse Deterministic Roadmap for Safe 2D Navigation and Exploration. IEEE Robotics and Automation Letters (also presented at ICRA 2024), 9(1):555-562, January 2024.

International Conferences

1. E. Restrepo, P. Robuffo Giordano. A Distributed Strategy for Generalized Biconnectivity Maintenance in Open Multi-robot Systems. In IEEE Conf. on Decision and Control, CDC 2024, Milan, Italy, December 2024.
2. F. d'Orazio, T. Belvedere, S. G Tarantos, G. Oriolo. Maintaining Balance of Mobile Manipulators for Safe Pick-Up Tasks. In Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2024, Dubai,UAE, December 2024.
3. A. Marino, C. Pacchierotti, P. Robuffo Giordano. Liquid-Graph Time-Constant Network for Multi-Agent Systems Control. In IEEE Conference on decision and control, CDC 2024, Milan, Italy, December 2024.
4. M. Manzano, S. Guégan, R. Le Breton, L. Devigne, M. Babel. Force-Triggered Control Design for User Intent-Driven Assistive Upper-Limb Robots. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'24, Abu Dhabi, United Arab Emirates, October 2024.
5. T. Belvedere, N. Scianca, L. Lanari, G. Oriolo. Joint-Level IS-MPC: a Whole-Body MPC with Centroidal Feasibility for Humanoid Locomotion. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2024, Pages 11239-11246, Abu Dhabi, United Arab Emirates, October 2024.
6. J. Hecquard, J. Saint-Aubert, F. Argelaguet, C. Pacchierotti, A. Lécuyer, M. Macé. Warm regards: Influence of thermal haptic feedback during social interactions in VR. In IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR 2024, Pages 1216-1225, Seattle, United States, October 2024.
7. E. de Santis, Y. Le Jeune, M. Marchal, C. Pacchierotti, M. Vendittelli. Haptic interaction with virtual deformable objects. In Proc. Italian Institute of Robotics and Intelligent Machines (I-RIM 3D 2024), Rome, Italy, October 2024.
8. E. Turco, C. Castellani, V. Bo, C. Pacchierotti, D. Prattichizzo, T. L. Baldi. Reducing Cognitive Load in Teleoperating Swarms of Robots through a Data-Driven Shared Control Approach. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2024, Abu-Dhabi, United Arab Emirates, October 2024.
9. F. Chinello, N. Deshpande, C. Pacchierotti, O. Georgiou, G. Gioioso, K. Koumaditis. XR-HAP-Enabling Haptic Interaction in Extended Reality: Challenges, Directions, and Opportunities. In IEEE International Symposium on Mixed and Augmented Reality Adjunct (ISMAR-Adjunct), Tutorial at ISMAR 2024, Pages 672-677, October 2024.
10. E. Leblong, F. Grzeskowiak, S. Thomas, L. Devigne, M. Babel, A.-H. Olivier. Wheelchair Proxemics: interpersonal behaviour between pedestrians and power wheelchair drivers in real and virtual environments. In ACM Symposium on Virtual Reality Software and Technology, VRST '24, Trier, Germany, October 2024.
11. E. Normand, C. Pacchierotti, E. Marchand, M. Marchal. How Different Is the Perception of Vibrotactile Texture Roughness in Augmented versus Virtual Reality?. In ACM Symposium on Virtual Reality Software and Technology, VRST 2024, Trier, Germany, October 2024.
12. P. Carboni, G. Nardini, E. Santini, G. Gravina, T. Belvedere, M. Cipriano, F. d'Orazio, G. Oriolo. A Vision-Based Control Scheme for Safe Navigation in a Crowd. In 17th International Workshop on Human-Friendly Robotics (HFR), Springer Proceedings in Advanced Robotics, Lugano, Switzerland, September 2024.
13. L. Mulot, T. Howard, S. Emery, C. Pacchierotti, M. Marchal. Designing 3D Object Rendering Techniques for Ultrasound Mid-Air Haptics using Intersection Strategies. In ACM Symposium on Applied Perception (SAP), Dublin, Ireland, August 2024.
14. E. Normand, C. Pacchierotti, E. Marchand, M. Marchal. Augmenting the Texture Perception of Tangible Surfaces in Augmented Reality using Vibrotactile Haptics. In Eurohaptics 2024, Lecture Notes in Computer Science, vol 14769. Springer, Lille, France, July 2024.
15. Y. Jin, F. Pinan Basualdo, A. Marino, Y. Mei, P. Robuffo Giordano, C. Pacchierotti, S. Misra. Graph Neural Network-Based Real-Time 3D Tracking for Micro-Agent Control. In Int. Conf. on Manipulation, Automation and Robotics at Small Scales (MARSS), Delft, Netherlands, July 2024.
16. V. Philippe, J. Hecquard, E. Hummel, F. Argelaguet, M. Macé, V. Gouranton, C. Pacchierotti, A. Lécuyer, J. Saint-Aubert. Cool Me Down: Effects of Thermal Feedback on Cognitive Stress in Virtual Reality. In Eurohaptics 2024, Lecture Notes in Computer Science, vol 14769. Springer, Pages 433-439, Lille, France, June 2024.
17. A. Srour, S. Marcellini, T. Belvedere, M. Cognetti, A. Franchi, P. Robuffo Giordano. Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty. In Int. Conference on Unmanned Aircraft Systems, ICUAS 2024, Pages 572-578, Chania, Crete, Greece, June 2024.
18. I. Lacôte, P.-A. Cabaret, C. Pacchierotti, M. Babel, D. Gueorguiev, M. Marchal. Do Vibrotactile Patterns on both Hands Improve Guided Navigation with a Walker?. In Eurohaptics 2024, Lecture Notes in Computer Science, vol 14768. Springer, Pages 391-404, Lille, France, June 2024.
19. P.-A. Cabaret, A. Bout, M. Manzano, S. Guégan, C. Pacchierotti, M. Babel, M. Marchal. Multi-actuator Haptic Handle Using Soft Material for Vibration Isolation. In Eurohaptics 2024, Lecture Notes in Computer Science, vol 14769. Springer, Pages 251-263, Lille, France, June 2024.
20. L. Kuang, M. Malvezzi, D. Prattichizzo, P. Robuffo Giordano, F. Chinello, C. Pacchierotti. The HapticSpider: a 7-DoF Wearable Device for Cutaneous Interaction with the Palm. In Eurohaptics 2024, Lecture Notes in Computer Science, vol 14768. Springer, Pages 285-292, Lille, France, June 2024.
21. P.-A. Cabaret, C. Pacchierotti, M. Babel, M. Marchal. Design of Haptic Rendering Techniques for Navigating with a Multi-Actuator Vibrotactile Handle. In Eurohaptics 2024, Lecture Notes in Computer Science, vol 14768. Springer, Pages 224-236, Lille, France, June 2024.
22. D. Troisi, J. Hecquard, F. Argelaguet, J. Saint-Aubert, M. Macé, A. Lécuyer, C. Pacchierotti, M. Malvezzi. Studying the influence of contact force on thermal perception at the fingertip. In Eurohaptics 2024, Lecture Notes in Computer Science, vol 14769. Springer, Pages 154-161, Lille, France, June 2024.
23. N. de Carli, P. Salaris, P. Robuffo Giordano. Distributed Control Barrier Functions for Global Connectivity Maintenance. In IEEE Int. Conf on Robotics and Automation, ICRA'24, Pages 12048-12054, Yokohama, Japan, May 2024.
24. I. Lacôte, C. Pacchierotti, F. Marie, F. Pasteau, F. Grzeskowiak, M. Babel, D. Gueorguiev, M. Marchal. Comparing the Haptic Perception of Directional Information Using a Uni-manual or Bi-manual Strategy on a Walker. In IEEE Haptics Symposium 2024, Pages 98-103, Long Beach (CA), United States, April 2024.
25. M. Nazeer, M. Aggravi, P. Robuffo Giordano, C. Pacchierotti. Distributed Connectivity-maintenance Control of a Team of Unmanned Aerial Vehicles using Supervised Deep Learning. In ICCAR 2024 - 10th Int. Conf. on Control, Automation and Robotics, Pages 232-239, Singapore, Singapore, April 2024.

National Conferences

1. E. Larribeau, A. Tomezzoli, B. Cassard, M. Babel, E. Leblong, C. Pontonnier. Elbow force generation capacities evaluation of post-stroke and multiple sclerosis patients: a pilot study. In 49ème congrès de la société de biomécanique, Compiègne, France, 2024.
2. P.-A. Cabaret, C. Pacchierotti, M. Babel, M. Marchal. Conception d'une poignée haptique multi-actionneurs pour l'aide à la navigation. In Conférence Handicap 2024 - 13ème édition, Paris, France, June 2024.
3. I. Avellino, C. Alberge, M. Babel, G. Bailly, A. Baudry, B. Caramiaux, O. Dubois, P. Gauthier, D. Gueorguiev, A. Haddad, S. Hadjes, E. Jaafar, N. Jarrassé, T. Jourdan, J. Kulozik, I. Lacôte, A. Lansiaux, O. Lelièvre, M. Marchal, C. Pacchierotti, L. Saint-Bauzel, E. Szmatula, F. Vérité, G. Canlorbe, O. Choussy, R. Taouachi, D. Fuks, H.M. Mentis. Interactive Systems for Healthcare at ISIR. In IHM'24 - 35e Conférence Internationale Francophone sur l'Interaction Humain-Machine, Volume IHM'24 : Actes étendus de la 35ème conférence Francophone sur l'Interaction Humain-Machine, Paris, France, March 2024.

Thesis

1. A. Srour. Planification robuste pour systèmes robotiques. PhD Thesis Université de Rennes, December 2024.
2. P.-A. Cabaret. Design of multi-actuator haptic devices and rendering methods for navigation and virtual interactions. PhD Thesis INSA de Rennes, December 2024.
3. I. Lacôte. Investigating the Apparent Haptic Motion Illusion to Provide Navigation Guidance in a Handle. PhD Thesis INSA de Rennes, May 2024.
4. J. Thomas. Assembly Task in Congested Area using Sensor-based Control. PhD Thesis Université de Rennes, April 2024.
5. N. de Carli. Active Perception and Localization for Multi-Robot Systems. PhD Thesis Université de Rennes, April 2024.
6. L. Smolentsev. Shape visual servoing of a suspended cable. PhD Thesis Université de Rennes, March 2024.

 
 

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