Interactive benchmark for planning algorithms on the Web: http://www.piaggio.ccii.unipi.it/benchplanning.html. - Simone Piccinocchi; Massimo Ceccarelli; Federico Piloni; Antonio Bicchi (ICRA, 1997)

Planning Motions of Polyhedral Parts by Rolling. - Alessia Marigo; Massimo Ceccarelli; Simone Piccinocchi; Antonio Bicchi (Algorithmica, 2000)