A.  Bicchi, Marigo, A., and Piccoli, B., ?Feedback Encoding for Efficient Symbolic Control of Dynamical Systems?, IEEE Trans. on Automatic Control, vol. 51, pp. 1-16, 2006. 

A.  Bicchi, Marigo, A., and Piccoli, B., ?Improving efficiency of finite plans by optimal choice of input sets?, in Hybrid Systems: Computation and Control, 2006, vol. 3927 / 2006, pp. 108-122. 

A.  Fagiolini, Greco, L., Bicchi, A., Piccoli, B., and Marigo, A., ?Symbolic Control for Underactuated Differentially Flat Systems?, in Proc. IEEE Int. Conf. on Robotics and Automation, 2006, pp. 1649-1654. 

A.  Bicchi, Marigo, A., and Piccoli, B., ?Discrete and Hybrid Nonholonomy?, in Hybrid Systems: Computation and Control, 2004, vol. 2993, pp. 157-172. 

A.  Bicchi, Chitour, Y., and Marigo, A., ?Reachability and Steering of Rolling Polyhedra: A Case Study in Discrete Nonholonomy?, IEEE Trans. on Automatic Control, vol. 49, pp. 710-726, 2004. 

A.  Bicchi, Marigo, A., and Piccoli, B., ?Encoding steering control with symbols?, in Proc. IEEE Int. Conf. on Decision and Control, 2003, pp. 3343-3348. 

G.  Oriolo, Vendittelli, M., Marigo, A., and Bicchi, A., ?From nominal to robust planning: The plate-ball manipulation system?, in Proc. IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, 2003, pp. 3175-3180. 

A.  Bicchi and Marigo, A., ?Dexterous Grippers: Putting Nonholonomy to Work for Fine Manipulation?, Int. Jour. of Robotics Research, vol. 21, pp. 427-442, 2002. 

A.  Marigo, Piccoli, B., and Bicchi, A., ?A Group-Theoretic Characterization of Quantized Control Systems?, in Proc. IEEE Int. Conf. on Decision and Control, 2002, pp. 811-816. 

A.  Marigo and Bicchi, A., ?A local-local planning algorithm for rolling objects?, in Proc. IEEE Int. Conf. on Robotics and Automation, 2002, pp. 1759-1764. 

A.  Bicchi, Marigo, A., and Piccoli, B., ?On the reachability of quantized control systems?, IEEE Trans. on Automatic Control, vol. 4, pp. 546-563, 2002. 

A.  Bicchi, Marigo, A., and Prattichizzo, D., ?Robotic Dexterity via Nonholonomy?, in Control Problems in Robotics and Automation, B.  Siciliano and Valavanis, K., Eds. Berlin Heidelberg, Germany: Springer Verlag, 1997, pp. 35-49. 

Y.  Chitour, Marigo, A., Prattichizzo, D., and Bicchi, A., ?Rolling Polyhedra on a Plane: Analysis of the Reachable Set?, in Algorithms for Robotic Motion and Manipulation, J. P.  Laumond and Overmars, M., Eds. Wellesley, MA, U.S.A.: A. K. Peters, 1997, pp. 277-286. 

Y.  Chitour, Marigo, A., Prattichizzo, D., and Bicchi, A., ?Reachability of Rolling Parts?, in Advances in Robotics: The ERNET Perspective, C.  Bonivento, Melchiorri, C., and Tolle, H., Eds. Singapore: World Scientific Publisher Corp., 1996, pp. 51-60.