From CAD Models to Assembly Planning. - Roberto Caracciolo; Enrico Ceresole; Teresa De Martino; Franca Giannini (Graphics and Robotics, 1993)

Control Experiment of a Flexible Robot Arm Using the Floating Frame Model. - Roberto Caracciolo; Enrico Ceresole; Marco Giovagnoni (J. Robotics Mechatronics, 1996)

Forward Assembly Planning Based on Stability. - Roberto Caracciolo; Enrico Ceresole (J. Intell. Robotic Syst., 1997)