The Mr.ArmHandOne Project: A Mazes Roamer Robot. - M. Cialente; Alberto Finzi; I. Mentuccia; Fiora Pirri; Marco Pirrone; Massimo Romano; Francesco Savelli (AAAI Mobile Robot Competition, 2002)

Local Metrical and Global Topological Maps in the Hybrid Spatial Semantic Hierarchy. - Benjamin Kuipers; Joseph Modayil; Patrick Beeson; Matt MacMahon; Francesco Savelli (ICRA, 2004)

Loop-closing and planarity in topological map-building. - Francesco Savelli; Benjamin Kuipers (IROS, 2004)

Topological mapping of ambiguos space. - Francesco Savelli (2005)

Existential assertions and quantum levels on the tree of the situation calculus. - Francesco Savelli (Artif. Intell., 2006)