Publications

Peer-reviewed journal publications

[ESR3] E. Cuniato, N. Lawrance, M. Tognon and R. Siegwart, "Power-Based Safety Layer for Aerial Vehicles in Physical Interaction Using Lyapunov Exponents," in IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6774-6781, July 2022, DOI: 10.1109/LRA.2022.3176959.

[ESR 3] Malczyk, G., Brunner, M., Cuniato, E., Tognon, M., & Siegwart, R. (2023). Multi-directional Interaction Force Control with an Aerial Manipulator Under External Disturbances. Autonomous Robots, 1-19. DOI: 10.1007/s10514-023-10128-2

[ESR 3] Bamert, S., Cathomen, R., Gorlo, N., Käppeli, G., Müller, M., Reinhart, T., Stadler, H., Shen, H., Cuniato, E., Tognon, M. and Siegwart, R., 2023. Geranos: a Novel Tilted-Rotors Aerial Robot for the Transportation of Poles. IEEE Robotics & Automation Magazine (2024). DOI: 10.1109/mra.2023.3348306

[ESR4] A. Garofano-Soldado, A. Gonzalez-Morgado, G. Heredia and A. Ollero, "Assessment and Modeling of the Aerodynamic Ground Effect of A Fully-actuated Hexarotor with Tilted Propellers," in IEEE Robotics and Automation Letters, DOI: 10.1109/LRA.2024.3350975.

[ESR4] González-Morgado, A., Cuniato, E., Tognon, M., Heredia, G., Siegwart, R., & Ollero, A. (2024). Controlled Shaking of Trees With an Aerial Manipulator. IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/tmech.2024.3410167

[ESR4] D'Ago, G., Selvaggio, M., Marzio, C., Buonocore, L. R., Suarez, A., Gonzalez-Morgado, A., ... & Ruggiero, F. (2024, June). A Model-Based Oscillation Suppression Approach for a Cable-Suspended Dual-Arm Aerial Manipulator. In 2024 International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 1140-1147). IEEE. DOI: 10.1109/icuas60882.2024.10557014

[ESR6] F.Ruiz, B. C. Arrue and A. Ollero, "SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction With the Environment," in IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 11086-11093, Oct. 2022, DOI 10.1109/LRA.2022.3196768.

[ESR6] F.Ruiz, B. C. Arrue and A. Ollero, "Aeroelastics-aware compensation system for soft aerial vehicle stabilization" in Frontiers in Robotics and AI, Special Issue Soft Aerial Robotics. Accepted.

[ESR6] F. Ruiz, B. C. Arrue and A. Ollero, "Bio-Inspired Deformable Propeller Concept for Smooth Human-UAV Interaction and Efficient Thrust Generation," in IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3430-3437, June 2023, doi: 10.1109/LRA.2023.3268045.

[ESR10] Seisa, A. S., Satpute, S. G., Lindqvist, B., & Nikolakopoulos, G. (2022). An Edge-Based Architecture for Offloading Model Predictive Control for UAVs. Robotics, 11(4). https://doi.org/10.3390/robotics11040080

[ESR10] Seisa, A. S., B. Lindqvist, S. G. Satpute and G. Nikolakopoulos, " An Edge Architecture for Enabling Autonomous Aerial Navigation with Embedded Collision Avoidance Through Remote Nonlinear Model Predictive Control," in Journal of Parallel and Distributed Computing. DOI: 10.1016/j.jpdc.2024.104849

[ESR10] Seisa, A. S., B. Lindqvist, S. G. Satpute and G. Nikolakopoulos, "E-CNMPC: Edge-Based Centralized Nonlinear Model Predictive Control for Multiagent Robotic Systems," in IEEE Access, vol. 10, pp. 121590-121601, 2022, doi: 10.1109/ACCESS.2022.3223446.

[ESR 15] Viswa Narayanan Sankaranarayanan, Sumeet Satpute, and George Nikolakopoulos. "Adaptive Robust Control for Quadrotors with Unknown Time-Varying Delays and Uncertainties in Dynamics." Drones 6.9 (2022): 220. DOI: 10.3390/drones6090220

[ESR 15] Sankaranarayanan, V.N., Satpute, S., Roy, S. and Nikolakopoulos, G., 2023. Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty. IFAC-PapersOnLine, 56(2), pp.3360-3365. DOI: 10.1016/j.ifacol.2023.10.1482

[ESR 16] Damigos, G., Lindgren, T., Sandberg, S., & Nikolakopoulos, G. (2023). Performance of Sensor Data Process Offloading on 5G-Enabled UAVs. Sensors, 23(2), 864. DOI: 10.3390/s23020864

[ESR 16] Damigos, G., Lindgren, T., & Nikolakopoulos, G. (2023). Towards 5G Edge Computing For Enabling Autonomous Aerial Vehicles. IEEE Access. DOI: 10.1109/access.2023.3235067

[ESR 16] Damigos, G., Stathoulopoulos, N., Koval, A. et al. Communication-Aware Control of Large Data Transmissions via Centralized Cognition and 5G Networks for Multi-Robot Map merging. J Intell Robot Syst 110, 22 (2024). https://doi.org/10.1007/s10846-023-02045-4

Contributed talks and publications in conferences

[ESR2] Hameed Ullah, Simone D’Angelo, Fabio Ruggiero, Vincenzo Lippiello, Santos Miguel Orozco Soto “Horizontal Sustained Force Delivery with an Aerial Manipulator using Hybrid Force/Position Control”, In 2024 25th International Carpathian Control Conference (ICCC) (pp. 1-5). IEEE. 10.1109/ICCC62069.2024.10569948

[ESR3] E. Cuniato, J. Cacace, M. Selvaggio, F. Ruggiero and V. Lippiello, "A hardware-in-the-loop simulator for physical human-aerial manipulator cooperation," 2021 20th International Conference on Advanced Robotics (ICAR), 2021, pp. 830-835, doi: 10.1109/ICAR53236.2021.9659398.

[ESR3] Eugenio Cuniato, Christian Geckeler, Maximilian Brunner, Dario Strübin, Elia Bähler, Fabian Ospelt, Marco Tognon, Stefano Mintchev, Roland Siegwart, “Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator”. 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 5352-5358, doi: 10.1109/ICRA48891.2023.10161060.

[ESR3] Eugenio Cuniato , Ismail Geles, Weixuan Zhang, Olov Andersson, Marco Tognon, and Roland Siegwart. "Learning to Open Doors with an Aerial Manipulator." In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6942-6948. IEEE, 2023. DOI: 10.1109/iros55552.2023.10342289

[ESR3] Eugenio Cuniato, Olov Andersson, Helen Oleynikova, Roland Siegwart, Michael Pantic, “Learning to Fly Omnidirectional Micro Aerial Vehicles with an End-To-End Control Network”. 18th International Symposium on Experimental Robotics (ISER 2023). DOI: 10.48550/arxiv.2312.05125

[ESR 5] Tong Hui, Matteo Fumagalli, Static-Equilibrium Oriented Interaction Force Modeling and Control of Aerial Manipulation with Uni-Directional Thrust Multirotors, the 26th 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). DOI: 10.1109/aim46323.2023.10196117

[ESR 5] Tong Hui, Florian Braun, Nicolas Scheid, Marius Fehr, Matteo Fumagalli, Versatile Airborne Ultrasonic NDT Technologies via Active Omni-Sliding with Over-Actuated Aerial Vehicles (the 18th International Symposium on Experimental Robotics (ISER 2023)) DOI: 10.48550/arxiv.2311.04662

[ESR 5 & ESR 13] Tong Hui, Manuel J. Fernandez Gonzalez, Matteo Fumagalli, Safety-Conscious Pushing on Diverse Oriented Surfaces with Underactuated Aerial Vehicles (The 2024 IEEE International Conference on Robotics and Automation (ICRA2024)) DOI: 10.48550/arxiv.2402.15243

[ESR 5 & ESR 3] Tong Hui, Eugenio Cuniato, Michael Pantic, Marco Tognon, Matteo Fumagalli, Roland Siegwart, Passive Aligning Physical Interaction of Fully-Actuated Aerial Vehicles for Pushing Tasks (The 2024 IEEE International Conference on Robotics and Automation (ICRA2024)) DOI: 10.48550/arxiv.2402.17434

[ESR6] F.Ruiz, B. Arrue and A. Ollero, "A flexible propelled arm: Mechanical considerations for the use in UAVs," 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 2022, pp. 1047-1055, doi: 10.1109/ICUAS54217.2022.9836149.

[ESR6] F.Ruiz, B. Arrue and A. Ollero, "Design and control of a flexible UAV adaptable to the environment" Poster Presentation at the ROBOSOFT 2022 Conference, Edinburgh

[ESR6] F.Ruiz, B. C. Arrue and A. Ollero, " Bio-Inspired Deformable Propeller Concept for Smooth Human-UAV Interaction and Efficient Thrust Generation, " in IROS 2023, Detroit. DOI: 10.1109/lra.2023.3268045

[ESR6] F.Ruiz, B. C. Arrue and A. Ollero, " A novel concept for Titan robotic exploration based on soft morphing aerial robots" in International Astronautical Congress (IAC 2023), Bakú, Azerbaiyan, arXiv preprint arXiv:2311.08952

[ESR6] F.Ruiz, B. C. Arrue and A. Ollero, "Continuum elastic dynamic model for variable stiffness soft aerial robots with morphing capabilities" in AIAA Scitech 2024, Orlando, FL. DOI: 10.2514/6.2024-1129

[ESR 7] R. Franceschini, M. Fumagalli, J.C. Becerra “Enhancing Human-Drone Interaction with Human-Meaningful Visual Feedback and Shared-Control Strategies”, International Conference on Unmanned Aircraft Systems, ICUAS 2023 DOI: 10.1109/ICUAS57906.2023.10156190

[ESR 7] R. Franceschini, M. Fumagalli, J.C. Becerra “Learn to efficiently exploit cost maps
by combining RRT⋆ with Reinforcement Learning” , IEEE International Symposium on Safety, Security and Rescue Robotics, Seville Nov 2022, DOI: 10.1109/SSRR56537.2022.10018735

[ESR 7] Riccardo Franceschini, Matteo Fumanagalli, Julian Cayero Becerra, Riding the Rollercoaster: easying UAV Piloting Experience with XR and continuous planning (XR-ROB 2023 - Second International Workshop on ''Horizons of an Extended Robotics Reality'' @ IEEE/RSJ IROS 2023) Accepted – Workshop

[ESR 7] R. Franceschini, Javier Rodriguez Marquez, M. Fumagalli, J.C. Becerra “Riding the Rollercoaster: Improving UAV Piloting Skills with Augmented Visualization and Collaborative Planning”, International Conference on Unmanned Aircraft Systems, ICUAS 2024. DOI: 10.1109/icuas60882.2024.10556953

[ESR 7] R. Franceschini, Javier Rodriguez Marquez, M. Fumagalli, J.C. Becerra “Point, Segment, and Inspect: Leveraging Promptable Segmentation Models for Semi-Autonomous Aerial Inspection”, IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2024. DOI: 10.1109/RO-MAN60168.2024.10731338

[ESR8] Udayanga G.W.G.K.N, Luca Zanatta, Matteo Fumagalli, Cesar Cadena, Silvia Tolu, “Event-based classification of defects in civil infrastructures with Artificial and Spiking Neural Networks”, 17th International Work-Conference on Artificial Neural Networks (IWANN 2023). DOI: 10.1007/978-3-031-43078-7_51

[ESR8] Carlos Marcos Torrejón, Udayanga G.W.G.K.N., Silvia Tolu, " Concurrent Detection of Known Defects and Out-of-Distribution Instances in Building Inspections: Advancements in Deep Classification ", 2023 IEEE International Conference on Imaging Systems and Techniques (IST). DOI: 10.1109/ist59124.2023.10355664

[ESR9] Yuta Miyanishi, Qi Zhang, Erdem Sahin, Atanas Gotchev, "Observed optical resolution of light field display: Empirical and simulation results" in Electronic Imaging, 2023, pp 391-1 - 391-6, https://doi.org/10.2352/EI.2023.35.2.SDA-391

[ESR9] Qi Zhang, Yuta Miyanishi, Erdem Sahin, Atanas Gotchev, "Optical Aberration Analysis of Light Field Displays: A Calibration Approach for Enhanced Performance" in Electronic Imaging, 2024, pp 344-1 - 344-6, https://doi.org/10.2352/EI.2024.36.2.SDA-344

[ESR10] A. S. Seisa, S. G. Satpute, B. Lindqvist and G. Nikolakopoulos, "An Edge Architecture Oriented Model Predictive Control Scheme for an Autonomous UAV Mission," 2022 IEEE 31st International Symposium on Industrial Electronics (ISIE), 2022, pp. 1195-1201, DOI 10.1109/ISIE51582.2022.9831701.

[ESR10 & ESR16] A. S. Seisa, G. Damigos, S. G. Satpute, A. Koval and G. Nikolakopoulos, "Edge Computing Architectures for Enabling the Realisation of the Next Generation Robotic Systems," 2022 30th Mediterranean Conference on Control and Automation (MED), 2022, pp. 487-493, DOI: 10.1109/MED54222.2022.9837289.

[ESR10] A. S. Seisa, S. G. Satpute and G. Nikolakopoulos, "A Kubernetes-Based Edge Architecture for Controlling the Trajectory of a Resource-Constrained Aerial Robot by Enabling Model Predictive Control," 2022 26th International Conference on Circuits, Systems, Communications and Computers (CSCC), Crete, Greece, 2022, pp. 290-295, DOI 10.1109/CSCC55931.2022.00056

[ESR10] A. S. Seisa, S. G. Satpute and G. Nikolakopoulos, "Comparison between Docker and Kubernetes based Edge Architectures for Enabling Remote Model Predictive Control for Aerial Robots," IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society, 2022, pp. 1-6, DOI 10.1109/IECON49645.2022.9968933.

[ESR10] M. -N. Stamatopoulos, P. Koustoumpardis, A. Seisa and G. Nikolakopoulos, "Combined Aerial Cooperative Tethered Carrying and Path Planning for Quadrotors in Confined Environments," 2023 31st Mediterranean Conference on Control and Automation (MED), Limassol, Cyprus, 2023, pp. 364-369, DOI 10.1109/MED59994.2023.10185884.

[ESR10] A. S. Seisa, S. G. Satpute and G. Nikolakopoulos, "Cloud-Based Scheduling Mechanism for Scalable and Resource-Efficient Centralized Controllers," IECON 2024 – 50th Annual Conference of the IEEE Industrial Electronics Society, 2024. DOI: https://doi.org/10.48550/arXiv.2410.0490

[ESR12] Julien Mellet, Jonathan Cacace, Fabio Ruggiero, Vincenzo Lippiello “Neural-Network for Position Estimation of a Cable-Suspended Payload Using Inertial Quadrotor Sensing” ICINCO 20th International Conference on Informatics in Control, Automation and Robotics. DOI: 10.5220/0012204100003543

[ESR12 & ESR14 & ESR10 & ESR15 & ESR8] Julien Mellet, Andrea Berra, Achilleas Santi Seisa, Viswa Sankaranarayanan, Udayanga G.W.K.N. Gamage, Miguel Ángel Trujillo Soto, Guillermo Heredia, George Nikolakopoulos, Vincenzo Lippiello, Fabio Ruggiero “Design of a Flexible Robot Arm for Safe Aerial Physical Interaction” IEEE RoboSoft24 DOI: 10.1109/robosoft60065.2024.10522019

[ESR14] A.Berra, P.J. Sanchez-Cuevas, M.A. Trujillo, G. Heredia, A. Viguria “AIRFRAME - Fast prototyping framework for UAVs definition”, 2023 International Conference on Unmanned Aircraft Systems (ICUAS), 2023. DOI: 10.1109/icuas57906.2023.10156583

[ESR14 & ESR15 & ESR10 & ESR12 & ESR8] Andrea Berra, Viswa Sankaranarayanan, Achilleas Santi Seisa, Julien Mellet, Udayanga G.W.K.N. Gamage, Sumeet Gajanan Satpute, Fabio Ruggiero, Vincenzo Lippiello, Silvia Tolu, Matteo Fumagalli, George Nikolakopoulos, Miguel Ángel Trujillo Soto, Guillermo Heredia "Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers." 2024 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 2024. DOI: 10.1109/icuas60882.2024.10557050

[ESR14] Andrea Berra, Miguel Ángel Trujillo Soto, and Guillermo Heredia. "Aerodynamic Interaction Minimization in Coaxial Multirotors via Optimized Control Allocation." Drones 8.9 (2024): 446. DOI: 10.3390/drones8090446

[ESR 15] Viswa Narayanan Sankaranarayanan, Sumeet Gajanan Satpute, and George Nikolakopoulos. "A Survey on Control Design Approaches for Remotely Operated UAVs." 2022 30th Mediterranean Conference on Control and Automation (MED). IEEE, 2022. DOI: 10.1109/med54222.2022.9837216

[ESR15 & ESR16 & ESR10] V. N. Sankaranarayanan, G. Damigos, A. S. Seisa, Sumeet Gajanan Satpute, Tore Lindgren, and George Nikolakopoulos. "PACED-5G: Predictive Autonomous Control using Edge for Drones over 5G." 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 2023. 10.1109/icuas57906.2023.10156241

[ESR 15] V. N. Sankaranarayanan, A. Saradagi, S. Satpute and G. Nikolakopoulos, "A CBF-Adaptive Control Architecture for Visual Navigation for UAV in the Presence of Uncertainties," 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 13659-13665. DOI: 10.1109/icra57147.2024.10611530

[ESR 15] Sankaranarayanan, V.N., Saradagi, A., Satpute, S. and Nikolakopoulos, G., 2024, July. Collision-Free Landing of Multiple UAVs on Moving Ground Vehicles Using Time-Varying Control Barrier Functions. In 2024 American Control Conference (ACC) (pp. 3760-3767). IEEE. DOI: 10.23919/acc60939.2024.10644586

[ESR 15] V. N. Sankaranarayanan, A. Saradagi, S. Satpute and G. Nikolakopoulos, " Time-varying Control Barrier Function for Safe and Precise Landing of a UAV on a Moving Target," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi, UAE 2024. Accepted and presented, not yet published.

[ESR16 & ESR10] G. Damigos, A. S. Seisa, S. G. Satpute, Tore Lindgren, and G. Nikolakopoulos, "A Resilient Framework for 5G-Edge-Connected UAVs based on Switching Edge-MPC and Onboard-PID Control," 2023 IEEE 31st International Symposium on Industrial Electronics (ISIE), 2022. DOI: 10.1109/isie51358.2023.10228114

[ESR 16] Talk in European Robotics Forum (ERF 2024): Talk title: Remote operations, telecommunication, and cloud computing. Session name: Empowering the future of Aerial Robotized Inspection and Maintenance.

[ESR 16] Damigos G., Saradagi A., Sandberg S., Nikolakopoulos G. (2023). Environmental Awareness Dynamic 5G QoS for Retaining Real Time Constraints in Robotic Applications. https://doi.org/10.48550/arXiv.2402.06470