<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-03664826</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-17T17:28:52+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator</title>
            <author role="aut">
              <persName>
                <forename type="first">Dario</forename>
                <surname>Sanalitro</surname>
              </persName>
              <email type="md5">8f2f478fc9d7a2cc9d38570dd31e6ea5</email>
              <email type="domain">hotmail.it</email>
              <idno type="idhal" notation="numeric">1071962</idno>
              <idno type="halauthorid" notation="string">1697761-1071962</idno>
              <idno type="IDREF">https://www.idref.fr/263701387</idno>
              <affiliation ref="#struct-392741"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Marco</forename>
                <surname>Tognon</surname>
              </persName>
              <email type="md5">b4dd1effb3f4ab1ce491450ba1c27e36</email>
              <email type="domain">inria.fr</email>
              <idno type="idhal" notation="string">marco-tognon</idno>
              <idno type="idhal" notation="numeric">3264</idno>
              <idno type="halauthorid" notation="string">24556-3264</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-1700-9637</idno>
              <idno type="IDREF">https://www.idref.fr/234852682</idno>
              <orgName ref="#struct-392741"/>
              <affiliation ref="#struct-180925"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">A</forename>
                <surname>Jimenez Cano</surname>
              </persName>
              <idno type="halauthorid">2500927-0</idno>
              <affiliation ref="#struct-392741"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Juan</forename>
                <surname>Cortés</surname>
              </persName>
              <email type="md5">0f6f22d31c6ee9d1a2ba6235ef08c274</email>
              <email type="domain">laas.fr</email>
              <idno type="idhal" notation="string">juan-cortes</idno>
              <idno type="idhal" notation="numeric">3712</idno>
              <idno type="halauthorid" notation="string">22673-3712</idno>
              <idno type="RESEARCHERID">http://www.researcherid.com/rid/F-7545-2019</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-4660-0306</idno>
              <idno type="IDREF">https://www.idref.fr/07673658X</idno>
              <idno type="RESEARCHERID">http://www.researcherid.com/rid/http://www.researcherid.com/rid/F-7545-2019</idno>
              <orgName ref="#struct-392741"/>
              <affiliation ref="#struct-392741"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Antonio</forename>
                <surname>Franchi</surname>
              </persName>
              <email type="md5">6667c5814f01263a7ac530f876dea76a</email>
              <email type="domain">utwente.nl</email>
              <idno type="idhal" notation="string">antonio-franchi</idno>
              <idno type="idhal" notation="numeric">2760</idno>
              <idno type="halauthorid" notation="string">18754-2760</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-5670-1282</idno>
              <idno type="IDREF">https://www.idref.fr/22542004X</idno>
              <orgName ref="#struct-392741"/>
              <affiliation ref="#struct-303060"/>
              <affiliation ref="#struct-392741"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Dario</forename>
                <surname>Sanalitro</surname>
              </persName>
              <email type="md5">8f2f478fc9d7a2cc9d38570dd31e6ea5</email>
              <email type="domain">hotmail.it</email>
            </editor>
            <funder ref="#projanr-43491"/>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2022-05-11 12:40:58</date>
              <date type="whenModified">2025-10-22 18:04:09</date>
              <date type="whenReleased">2022-05-20 16:15:24</date>
              <date type="whenProduced">2022-07</date>
              <date type="whenEndEmbargoed">2022-05-11</date>
              <ref type="file" target="https://laas.hal.science/hal-03664826v1/document">
                <date notBefore="2022-05-11"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://laas.hal.science/hal-03664826v1/file/main.pdf" id="file-3664826-3200500">
                <date notBefore="2022-05-11"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="893535">
                <persName>
                  <forename>Dario</forename>
                  <surname>Sanalitro</surname>
                </persName>
                <email type="md5">8f2f478fc9d7a2cc9d38570dd31e6ea5</email>
                <email type="domain">hotmail.it</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-03664826</idno>
            <idno type="halUri">https://laas.hal.science/hal-03664826</idno>
            <idno type="halBibtex">sanalitro:hal-03664826</idno>
            <idno type="halRefHtml">&lt;i&gt;IEEE Robotics and Automation Letters&lt;/i&gt;, 2022, 7 (3), pp.6726 - 6733. &lt;a target="_blank" href="https://dx.doi.org/10.1109/LRA.2022.3176457"&gt;&amp;#x27E8;10.1109/LRA.2022.3176457&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">IEEE Robotics and Automation Letters, 2022, 7 (3), pp.6726 - 6733. &amp;#x27E8;10.1109/LRA.2022.3176457&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-3664826-3200500"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UNIV-TLSE2">Université Toulouse 2</idno>
            <idno type="stamp" n="UNIV-TLSE3">Université de Toulouse</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="INSA-TOULOUSE">Institut National des Sciences Appliquées de Toulouse</idno>
            <idno type="stamp" n="LAAS">Laboratoire d'analyse et d'architecture des systèmes</idno>
            <idno type="stamp" n="UT1-CAPITOLE">Université Toulouse 1 Capitole</idno>
            <idno type="stamp" n="LAAS-RIS" corresp="LAAS-ROBOTIQUE">Équipe Robotique et InteractionS</idno>
            <idno type="stamp" n="LAAS-ROBOTIQUE" corresp="LAAS">LAAS-Robotique</idno>
            <idno type="stamp" n="INSA-GROUPE">Groupe INSA</idno>
            <idno type="stamp" n="ANR">ANR</idno>
            <idno type="stamp" n="TOULOUSE-INP">Toulouse - INP</idno>
            <idno type="stamp" n="UNIV-UT3">Université Toulouse 3</idno>
            <idno type="stamp" n="UT3-INP">Université de Toulouse / Toulouse INP</idno>
            <idno type="stamp" n="UT3-TOULOUSEINP">Université de Toulouse / Toulouse INP</idno>
            <idno type="stamp" n="TEST7-HALCNRS">test 7 du portail hal cnrs</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Dario</forename>
                    <surname>Sanalitro</surname>
                  </persName>
                  <email type="md5">8f2f478fc9d7a2cc9d38570dd31e6ea5</email>
                  <email type="domain">hotmail.it</email>
                  <idno type="idhal" notation="numeric">1071962</idno>
                  <idno type="halauthorid" notation="string">1697761-1071962</idno>
                  <idno type="IDREF">https://www.idref.fr/263701387</idno>
                  <affiliation ref="#struct-392741"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Marco</forename>
                    <surname>Tognon</surname>
                  </persName>
                  <email type="md5">b4dd1effb3f4ab1ce491450ba1c27e36</email>
                  <email type="domain">inria.fr</email>
                  <idno type="idhal" notation="string">marco-tognon</idno>
                  <idno type="idhal" notation="numeric">3264</idno>
                  <idno type="halauthorid" notation="string">24556-3264</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-1700-9637</idno>
                  <idno type="IDREF">https://www.idref.fr/234852682</idno>
                  <orgName ref="#struct-392741"/>
                  <affiliation ref="#struct-180925"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">A</forename>
                    <surname>Jimenez Cano</surname>
                  </persName>
                  <idno type="halauthorid">2500927-0</idno>
                  <affiliation ref="#struct-392741"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Juan</forename>
                    <surname>Cortés</surname>
                  </persName>
                  <email type="md5">0f6f22d31c6ee9d1a2ba6235ef08c274</email>
                  <email type="domain">laas.fr</email>
                  <idno type="idhal" notation="string">juan-cortes</idno>
                  <idno type="idhal" notation="numeric">3712</idno>
                  <idno type="halauthorid" notation="string">22673-3712</idno>
                  <idno type="RESEARCHERID">http://www.researcherid.com/rid/F-7545-2019</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-4660-0306</idno>
                  <idno type="IDREF">https://www.idref.fr/07673658X</idno>
                  <idno type="RESEARCHERID">http://www.researcherid.com/rid/http://www.researcherid.com/rid/F-7545-2019</idno>
                  <orgName ref="#struct-392741"/>
                  <affiliation ref="#struct-392741"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Antonio</forename>
                    <surname>Franchi</surname>
                  </persName>
                  <email type="md5">6667c5814f01263a7ac530f876dea76a</email>
                  <email type="domain">utwente.nl</email>
                  <idno type="idhal" notation="string">antonio-franchi</idno>
                  <idno type="idhal" notation="numeric">2760</idno>
                  <idno type="halauthorid" notation="string">18754-2760</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-5670-1282</idno>
                  <idno type="IDREF">https://www.idref.fr/22542004X</idno>
                  <orgName ref="#struct-392741"/>
                  <affiliation ref="#struct-303060"/>
                  <affiliation ref="#struct-392741"/>
                </author>
              </analytic>
              <monogr>
                <idno type="localRef">Rapport LAAS n° 22150</idno>
                <idno type="halJournalId" status="VALID">106024</idno>
                <idno type="issn">2377-3766</idno>
                <title level="j">IEEE Robotics and Automation Letters</title>
                <imprint>
                  <publisher>IEEE </publisher>
                  <biblScope unit="volume">7</biblScope>
                  <biblScope unit="issue">3</biblScope>
                  <biblScope unit="pp">6726 - 6733</biblScope>
                  <date type="datePub">2022-07</date>
                  <date type="dateEpub">2022-05</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1109/LRA.2022.3176457</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">Multi-Robot Systems</term>
                <term xml:lang="en">Compliance and Impedance Control</term>
                <term xml:lang="en">Aerial Systems: Mechanics and Control</term>
              </keywords>
              <classCode scheme="halDomain" n="spi">Engineering Sciences [physics]</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>We present the control in physical interaction with the environment of a Cable-suspended Aerial Multi-Robot Manipulator (CS-AMRM) called the Fly-Crane, composed of three aerial vehicles towed to a platform by means of six cables. The control strategy enables the system to accurately and safely perform tasks involving expected or unexpected interactions between the platform and the environment, in the absence of dedicated force/torque sensors. A previously developed Inverse Kinematic Controller (IKC) is enhanced with an admittance framework, and contacts are estimated through a generalized momentumbased observer. To assess the validity of our approach, and to provide practical insights into the method, we perform extensive experimental tests, comprehending the admittance property shaping to modulate stiffness, damping, and virtual mass, as well as experiments in a more realistic scenario involving contacts between the Fly-Crane and the environment.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-392741" status="OLD">
          <orgName>Équipe Robotique et InteractionS</orgName>
          <orgName type="acronym">LAAS-RIS</orgName>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.laas.fr/public/fr/ris</ref>
          </desc>
          <listRelation>
            <relation active="#struct-459" type="direct"/>
            <relation active="#struct-81148" type="indirect"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116255" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="indirect"/>
            <relation active="#struct-217752" type="indirect"/>
            <relation name="UPR8001" active="#struct-441569" type="indirect"/>
            <relation active="#struct-448187" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-180925" status="VALID">
          <idno type="ROR">https://ror.org/05a28rw58</idno>
          <orgName>Eidgenössische Technische Hochschule - Swiss Federal Institute of Technology  [Zürich]</orgName>
          <orgName type="acronym">ETH Zürich</orgName>
          <desc>
            <address>
              <addrLine>Hauptgebäude, Rämistrasse 101, 8092 Zürich</addrLine>
              <country key="CH"/>
            </address>
            <ref type="url">https://www.ethz.ch/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-303060" status="VALID">
          <idno type="ROR">https://ror.org/006hf6230</idno>
          <orgName>University of Twente</orgName>
          <desc>
            <address>
              <addrLine>Drienerlolaan 5, 7522 NB Enschede</addrLine>
              <country key="NL"/>
            </address>
            <ref type="url">https://www.utwente.nl/</ref>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-459" status="OLD">
          <idno type="IdRef">199278792</idno>
          <idno type="ISNI">0000 0001 2188 216X </idno>
          <idno type="RNSR">199517454Y</idno>
          <idno type="ROR">https://ror.org/03vcm6439</idno>
          <orgName>Laboratoire d'analyse et d'architecture des systèmes</orgName>
          <orgName type="acronym">LAAS</orgName>
          <date type="start">1968-01-01</date>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>7 Av du colonel Roche 31077 TOULOUSE CEDEX 4</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.laas.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-81148" type="direct"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116255" type="direct"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="direct"/>
            <relation active="#struct-217752" type="direct"/>
            <relation name="UPR8001" active="#struct-441569" type="direct"/>
            <relation active="#struct-448187" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-81148" status="VALID">
          <idno type="IdRef">026404354</idno>
          <idno type="ISNI">0000000121902837</idno>
          <idno type="ROR">https://ror.org/0443n9e75</idno>
          <orgName>Université Toulouse Capitole</orgName>
          <orgName type="acronym">UT Capitole</orgName>
          <date type="start">1970-01-01</date>
          <desc>
            <address>
              <addrLine>2 rue du Doyen-Gabriel-Marty - 31042 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ut-capitole.fr/</ref>
          </desc>
          <listRelation>
            <relation name="443875" active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-443875" status="VALID">
          <idno type="ROR">https://ror.org/017tgbk05</idno>
          <orgName>Communauté d'universités et établissements de Toulouse</orgName>
          <orgName type="acronym">Comue de Toulouse</orgName>
          <desc>
            <address>
              <addrLine>41 Allée Jules Guesde, 31000 Toulouse</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.univ-toulouse.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-116255" status="VALID">
          <idno type="IdRef">026388766</idno>
          <idno type="ISNI">0000 0001 2286 8343</idno>
          <idno type="ROR">https://ror.org/01h8pf755</idno>
          <idno type="Wikidata">Q858979</idno>
          <orgName>Institut National des Sciences Appliquées - Toulouse</orgName>
          <orgName type="acronym">INSA Toulouse</orgName>
          <date type="start">1963-10-21</date>
          <desc>
            <address>
              <addrLine>135, avenue de Rangueil - 31077 Toulouse cedex 4</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.insa-toulouse.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301232" type="direct"/>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-301232" status="VALID">
          <idno type="IdRef">162105150</idno>
          <orgName>Institut National des Sciences Appliquées</orgName>
          <orgName type="acronym">INSA</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="institution" xml:id="struct-116256" status="VALID">
          <idno type="IdRef">026403994</idno>
          <idno type="ROR">https://ror.org/04ezk3x31</idno>
          <orgName>Université Toulouse - Jean Jaurès</orgName>
          <orgName type="acronym">UT2J</orgName>
          <date type="start">1971-01-01</date>
          <desc>
            <address>
              <addrLine>5 allées Antonio Machado - 31058 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-tlse2.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-217752" status="OLD">
          <idno type="IdRef">026404672</idno>
          <idno type="ISNI">0000000121617331</idno>
          <idno type="ROR">https://ror.org/02v6kpv12</idno>
          <idno type="Wikidata">Q1273188</idno>
          <orgName>Université Toulouse III - Paul Sabatier</orgName>
          <orgName type="acronym">UT3</orgName>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>118 route de Narbonne - 31062 Toulouse</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-tlse3.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-448187" status="VALID">
          <idno type="IdRef">026388820</idno>
          <idno type="ISNI">0000000121766169</idno>
          <idno type="ROR">https://ror.org/033p9g875</idno>
          <orgName>Institut National Polytechnique (Toulouse)</orgName>
          <orgName type="acronym">Toulouse INP</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.inp-toulouse.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
      </listOrg>
      <listOrg type="projects">
        <org type="anrProject" xml:id="projanr-43491" status="VALID">
          <idno type="anr">ANR-17-CE33-0007</idno>
          <orgName>MUROPHEN</orgName>
          <desc>Controle de systèmes multi-robots pour l'observation de phenomenes dynamiques</desc>
          <date type="start">2017</date>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>