A.  Marigo, Ceccarelli, M., Piccinocchi, S., and Bicchi, A., ?Planning Motions of Polyhedral Parts by Rolling?, Algorithmica, vol. 26, pp. 560-576, 2000. 

S.  Piccinocchi, Ceccarelli, M., Piloni, F., and Bicchi, A., ?Interactive Benchmark for Planning Algorithms on the Web?, in Proc. IEEE Int. Conf. on Robotics and Automation, 1997, pp. 399-404.