Topological direction-giving and visual navigation in large environments

Artificial Intelligence 78 (1-2):355-395 (1995)
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Modeling Spatial Knowledge.Benjamin Kuipers - 1978 - Cognitive Science 2 (2):129-153.
Qualitative navigation for mobile robots.Tod S. Levitt & Daryl T. Lawton - 1990 - Artificial Intelligence 44 (3):305-360.

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