Publications

Thesis/Books

B. Yüksel, Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation, defended on 17.02.2017 with Magna cum Laude in University of Stuttgart and Max Planck Institute for Biological Cybernetics Tübingen.

Same thesis work is published as a book by Logos Verlag GmbH (figure on the right).

Peer-Reviewed Conferences

C. Schenk, B. Yüksel, C. Secchi and H.H. Bülthoff, Port Hamiltonian Modeling of a Cable-Driven Parallel Robot, Presented at 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control-LHMNC 2018, Chile.
M. Tognon, B. Yüksel, G. Buondonno and A. Franchi, Dynamic Decentralized Control for Protocentric Aerial Manipulators, Presented in Singapore, ICRA 2017.
B. Yüksel, G. Buondonno and A. Franchi, Differential Flatness and Control of Protocentric Aerial Manipulators with Mixed Rigid-and Elastic-Joints. Presented in Daejeon, S. Korea, IROS 2016 (awarded with travel support).
B. Yüksel, N. Staub and A. Franchi, Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments. Presented in Daejeon, S. Korea, IROS 2016 (awarded with travel support).
B. Yüksel, S. Mahboubi, C. Secchi, H.H. Bülthoff, and A. Franchi. Design, Identification and Experimental Testing of a Light-weight Flexible-joint Arm for Aerial Physical Interaction. Presented in Seattle-WA, USA, ICRA 2015.
B. Yüksel, C. Secchi, H.H. Bülthoff, and A. Franchi. Nonlinear Force Observer for Quadrotors and Application to Physical Interactive Tasks. Presented in IEEE/ASME-AIM, on July 8-11, 2014 in Besançon, France.
B. Yüksel, C. Secchi, H.H. Bülthoff, and A. Franchi. Reshaping the Physical Properties of a Quadrotor through IDA-PBC and its Application to Aerial Physical Interaction. Presented in Hong Kong, ICRA 2014.

Journals

B. Yüksel, C. Secchi, H.H. Bülthoff and A. Franchi, Aerial Physical Interaction via IDA-PBC, accepted to IJRR.
B. Yüksel and A. Franchi, PVTOL Aerial Manipulators with a Rigid or an Elastic Joint: Analysis, Control, and Comparison, in progress.

Technical Reports

M. Tognon, B. Yüksel, G. Buondonno and A. Franchi, Explicit Computations, Simulations, and additional Results for the Dynamic Decentralized Control for Protocentric Aerial Maninpulators. Technical Report.
B. Yüksel, G. Buondonno and A. Franchi, Protocentric Aerial Manipulators: Flatness Proofs and Simulations. Technical Report.
B. Yüksel, N. Staub and A. Franchi, Explicit Computations and Further Extensive Simulations for Rigid-or Elastic-joint Arm. Technical Report.

Posters

B. Yüksel, G. Buondonno, N. Staub, and A. Franchi. Differential Flatness and Control of the Aerial Manipulators with Mixed Rigid/Elastic Joints: Controllability from Single Joint Arm to the Multiple Arms. ICRA 2016 Workshop: Aerial Robotics Manipulation: from Simulation to Real-Life ”, Stockholm, Sweden.
B. Yüksel, N. Staub, C. Secchi, H.H. Bülthoff, and A. Franchi. Aerial Physical Interaction: Design, Control, Identification and Estimation. ICRA 2015 Workshop: Aerial Robotics Manipulation and Load Transportation, Seattle WA, USA.
B. Yüksel, C. Secchi, H.H. Bülthoff, and A. Franchi. Aerial Physical Interaction via Reshaping of the Physical Properties: Passivity-based Control Methods for Nonlinear Force Observers. ICRA 2014 Workshop: Aerial robots physically interacting with the environment, Hong Kong, China.

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