@techReport{BernardiniFP-FCS1992, author = {F. Bernardini and V. Ferrucci and A. Paoluzzi}, title = {Free Configuration Space with Solid Modeling}, institution = {Dip. di Informatica e Sistemistica, Universit\`a 'La Sapienza'}, number = {06-92}, month = {June}, year = 1992, }