D.  Fontanelli, Danesi, A., Belo, F. A. W., Salaris, P., and Bicchi, A., ?Visual Servoing in the Large?, International Journal of Robotics Research, vol. 28, pp. 802 - 814, 2009. 

A.  Danesi, Fontanelli, D., and Bicchi, A., ?Visual Servoing on Image Maps?, in Experimental Robotics, 2008, vol. 39, pp. 277 - 286.