Publications 2023

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Academic Journals

1. E. Restrepo, P. Robuffo Giordano. Distributed Biconnecitvity Achievement and Preservation in Multi-agent Systems. IEEE Control Systems Letters, 7:3289-3294, 2023.
2. 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(8):1325-1343, December 2023.
3. M. Ferro, C. Pacchierotti, S. Rossi, M. Vendittelli. Deconstructing haptic feedback information in robot-assisted needle insertion in soft tissues. IEEE Trans. on Haptics (ToH), 16(4):536-542, October 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. T. Howard, G. Gicquel, C. Pacchierotti, M. Marchal. Can we effectively combine tangibles and ultrasound mid-air haptics? A study of acoustically transparent tangible surfaces. IEEE Trans. on Haptics (ToH), 16(4):477-483, October 2023.
6. I. Lacôte, C. Pacchierotti, M. Babel, D. Gueorguiev, M. Marchal. Investigating the Haptic Perception of Directional Information Within a Handle. IEEE Trans. on Haptics (ToH), 16(4):680-686, October 2023.
7. L. Mulot, T. Howard, C. Pacchierotti, M. Marchal. Ultrasound Mid-Air Haptics for Hand Guidance in Virtual Reality. IEEE Trans. on Haptics (ToH), 16(4):497-503, October 2023.
8. L. Mulot, T. Howard, C. Pacchierotti, M. Marchal. Improving the Perception of Mid-Air Tactile Shapes With Spatio-Temporally-Modulated Tactile Pointers. ACM Transactions on Applied Perception, Also presented at the SAP conference in Los Angeles, USA, 20(4):1-16, October 2023.
9. B. Fraudet, E. Leblong, P. Piette, B.and Devigne, L. Nicolas, M. Babel, F. Pasteau, F. Routhier, P. Gallien. SWADAPT2: benefits of a collision avoidance assistance for powered wheelchair users in driving difficulty. Disability and Rehabilitation: Assistive Technology, September 2023.
10. L. Balandi, N. de Carli, P. Robuffo Giordano. Persistent Monitoring of Multiple Moving Targets Using High Order Control Barrier Functions. IEEE Robotics and Automation Letters, 8(8):5236-5243, August 2023.
11. J. Thomas, F. Chaumette. Stability Analysis of Plane-to-Plane Positioning by Proximity-based Control. IEEE Robotics and Automation Letters (also presented at ICRA'23), 8(8):4473-4480, August 2023.
12. E. Bouzbib, C. Pacchierotti, A. Lécuyer. When Tangibles Become Deformable: Studying Pseudo-Stiffness Perceptual Thresholds in a VR Grasping Task. IEEE Transactions on Visualization and Computer Graphics, IEEE VR Special Issue, 29(5):2743-2752, May 2023.
13. S. Delmas, F. Morbidi, G. Caron, M. Babel, F. Pasteau. SpheriCol: A Driving Assistant for Power Wheelchairs based on Spherical Vision. IEEE Transactions on Medical Robotics and Bionics, 5(2):387-400, May 2023.
14. R. Fernandez-Fernandez, B. Łukawski, J. Victores, C. Pacchierotti. Transferring human emotions to robot motions using Neural Policy Style Transfer. Cognitive Systems Research, 82, May 2023.
15. 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, May 2023.
16. B. Duvernoy, Z. Kappassov, S. Topp, J. Milroy, S. Xiao, I. Lacôte, A. Abdikarimov, V. Hayward, M. Ziat. HaptiComm: A Touch-Mediated Communication Device for Deafblind Individuals. IEEE Robotics and Automation Letters, 8(4):2014-2021, April 2023.
17. R. Rahal, A. M Ghalamzan, F. Abi-Farraj, C. Pacchierotti, P. Robuffo Giordano. Haptic-guided Grasping to Minimise Torque Effort during Robotic Telemanipulation. Autonomous Robots, 47:405-423, April 2023.
18. S. Vizcay, P. Kourtesis, F. Argelaguet, C. Pacchierotti, M. Marchal. Design, evaluation and calibration of wearable electrotactile interfaces for enhancing contact information in virtual reality. Computers and Graphics, 111:199-212, April 2023.
19. F. Morbidi, L. Devigne, C.S. Teodorescu, B. Fraudet, E. Leblong, T. Carlson, M. Babel, G. Caron, S. Delmas, F. Pasteau, G. Vailland, V. Gouranton, S. Guegan, R. Le Breton, N. Ragot. Assistive Robotic Technologies for Next-Generation Smart Wheelchairs: Codesign and Modularity to Improve Users' Quality of Life. IEEE Robotics and Automation Magazine, 30(1):24-35, March 2023.
20. A. Jovane, P. Raimbaud, K. Zibrek, C. Pacchierotti, M. Christie, L. Hoyet, A.-H. Olivier, J. Pettré. Warping character animations using visual motion features. Computers and Graphics, 110:38-48, February 2023.

Book Chapters

1. G. Barresi, A. Gaggioli, F. Sternini, A. Ravizza, C. Pacchierotti, L. de Michieli. Digital Twins and Healthcare: Quick Overview and Human-Centric Perspectives. In Health and Human-Centered Design Towards Enhanced Health, Care, and Well-being, Vol. 120, pp. 57-78, Studies in Big Data, Springer Nature, July 2023.

International Conferences

1. N. de Carli, P. Salaris, P. Robuffo Giordano. Multi-Robot Active Sensing for Bearing Formations. In IEEE Int. Symp. on Multi-Robot and Multi-Agent Systems, Boston (MA), United States, December 2023.
2. M. Bernard, C. Pacchierotti, P. Robuffo Giordano. Decentralized Connectivity Maintenance for Quadrotor UAVs with Field of View Constraints. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'23, Pages 11111-11118, Detroit, United States, October 2023.
3. 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.
4. M. Gonzalez, E. Marchand, A. Kacete, J. Royan. TwistSLAM++: Fusing multiple modalities for accurate dynamic semantic SLAM. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'23, Pages 9126-9132, Detroit, USA, October 2023.
5. F. Makiyeh, F. Chaumette, M. Marchal, A. Krupa. Shape Servoing of a Soft Object Using Fourier Series and a Physics-based Model. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'23, Pages 6356-6363, Detroit, USA, October 2023.
6. A. Pupa, P. Robuffo Giordano, C. Secchi. Optimal Energy Tank Initialization for Minimum Sensitivity to Model Uncertainties. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2023, Pages 8192-8199, Detroit (MI), United States, October 2023.
7. A. Srour, A. Franchi, P. Robuffo Giordano. Controller and Trajectory Optimization for a Quadrotor UAV with Parametric Uncertainty. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2023, Pages 9999-10005, Detroit (MI), United States, October 2023.
8. M. Manzano, S. Guégan, R. Le Breton, L. Devigne, M. Babel. Model-based upper-limb gravity compensation strategies for active dynamic arm supports. In IEEE Int. Conf. on Rehabilitation Robotics, ICORR'23, Singapore, Singapore, September 2023.
9. E. Leblong, B. Fraudet, L. Devigne, F. Pasteau, S. Guegan, M. Babel. Robotics at the Service of Wheelchair Mobility for People with Disabilities: Story of a Clinical-Scientific Partnership. In 17h International Conference of the Association for the Advancement of Assistive Technology in Europe (AAATE'23), Studies in Health Technology and Informatics, Paris, France, August 2023.
10. P. Raimbaud, A. Jovane, K. Zibrek, C. Pacchierotti, M. Christie, L. Hoyet, J. Pettré, A-H. Olivier. The Stare-in-the-Crowd Effect When Navigating a Crowd in Virtual Reality. In ACM Symposium on Applied Perception, SAP 2023, Pages 1-10, Los Angeles, United States, August 2023.
11. G. Bianchini, D. Barcelli, D. Prattichizzo, C. Pacchierotti. Optimized time-domain control of passive haptic teleoperation systems for multi-DoF interaction. In IEEE World Haptics Conference, Delft, Netherlands, July 2023.
12. J. Hecquard, J. Saint-Aubert, F. Argelaguet, C. Pacchierotti, A. Lécuyer, M. Macé. Fostering empathy in social Virtual Reality through physiologically based affective haptic feedback. In IEEE World Haptics Conference, WHC 2023 , Delft, Netherlands, July 2023.
13. L. Kuang, F. Chinello, P. Robuffo Giordano, M. Marchal, C. Pacchierotti. Haptic Mushroom: a 3-DoF shape-changing encounter-type haptic device with interchangeable end-effectors. In WHC 2023 - IEEE World Haptics Conference, Delft, Netherlands, July 2023.
14. 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.
15. T. Rousseau, N. Pedemonte, S. Caro, F. Chaumette. Stability Analysis of Profile Following by a CDPR using Distance and Vision Sensors. In CableCon 2023 - The Sixth International Conference on Cable-Driven Parallel Robots, Nantes, France, June 2023.
16. J. Thomas, F. Chaumette. Use of Screw Theory in Proximity-based Control. In ICRA workshop - ''Geometric Representations: The Roles of Modern Screw Theory, Lie algebra, and Geometric Algebra in Robotics'', London, United Kingdom, June 2023.
17. X. Wang, R. Courant, J. Shi, E. Marchand, M. Christie. JAWS: Just A Wild Shot for Cinematic Transfer in Neural Radiance Fields. In IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2023, Pages 16933-16942, Vancouver, Canada, June 2023.
18. S. Felton, E. Fromont, E. Marchand. Deep metric learning for visual servoing: when pose and image meet in latent space. In IEEE Int. Conf. on Robotics and Automation, ICRA'23, Pages 741-747, London, UK, May 2023.
19. F. Grzeskowiak, R. Le Breton, L. Devigne, F. Pasteau, M. Babel, S. Guégan. A generic power wheelchair lumped model in the sagittal plane: towards realistic self-motion perception in a virtual reality simulator. In IEEE Int. Conf. on Robotics and Automation, ICRA'23, Pages 11705-11711, London, UK, May 2023.
20. A. Paolillo, P. Robuffo Giordano, M. Saveriano. Dynamical System-based Imitation Learning for Visual Servoing using the Large Projection Formulation. In IEEE Int. Conf. on Robotics and Automation, ICRA'23, Pages 755-761, London, UK, May 2023.
21. T. Rousseau, N. Pedemonte, S. Caro, F. Chaumette. Constant Distance and Orientation Following of an Unknown Surface with a Cable-Driven Parallel Robot. In IEEE Int. Conf. on Robotics and Automation, ICRA'23, Pages 762-768, London, UK, May 2023.
22. L. Smolentsev, A. Krupa, F. Chaumette. Shape visual servoing of a tether cable from parabolic features. In IEEE Int. Conf. on Robotics and Automation, ICRA'23, Pages 734-740, London, UK, May 2023.
23. S. Wasiela, P. Robuffo Giordano, J. Cortes, T. Simeon. A Sensitivity-Aware Motion Planner (SAMP) to Generate Intrinsically-Robust Trajectories. In IEEE Int. Conf. on Robotics and Automation, ICRA'23, Pages 12707-12713, London, UK, May 2023.
24. J. Saint-Aubert, F. Argelaguet, M. Macé, C. Pacchierotti, A. Amedi, A. Lécuyer. Persuasive Vibrations: Effects of Speech-Based Vibrations on Persuasion, Leadership, and Co-Presence During Verbal Communication in VR. In IEEE Conference on Virtual Reality and 3D User Interfaces, VR 2023 , Pages 552-560, Shanghai, China, March 2023.

Misc

1. P. Gomez Hernandez, L. Kuang, M. Malvezzi, D. Prattichizzo, P. Robuffo Giordano, C. Pacchierotti, F. Chinello. Encounter-Type Haptic Device Enabling Edges, Vertexes and Plane Palm Interaction: the Haptic Origami Device. IEEE World Haptics (Work-in-Progress paper), Delft, Netherlands, July 2023.
2. L. Mulot, T. Howard, C. Pacchierotti, M. Marchal. Can We Increase the Perceived Intensity of Mid-Air Haptic Shapes Rendered With Dynamic Tactile Pointers?. IEEE World Haptics conference (Work-in-Progress paper), Delft, Netherlands, July 2023.
3. F. Zhou, D. Price, A. Kucukyilmaz, C. Pacchierotti. Somabotics Toolkit for Rapid Prototyping Human-Robot Interaction Experiences using Wearable Haptics. IEEE World Haptics Conference 2023 (Work-in-Progress paper), Delft, Netherlands, July 2023.

Thesis

1. F. Makiyeh. Vision-based shape servoing of soft objects using a mass-spring model. PhD Thesis Université de Rennes, December 2023.
2. M. Robic. Visual servoing of the orientation of an Earth observation satellite. PhD Thesis Université de Rennes, December 2023.
3. L. Kuang. Ungrounded haptic interfaces for guidance and interaction rendering. PhD Thesis Université de Rennes, June 2023.
4. P. Brault. Robust trajectory planning algorithms for robots with parametric uncertainties. PhD Thesis Université de Rennes, April 2023.

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