Deriving ambiguous spatial relations

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Ais 1993: Ai, Simulation and Planning in High Automony Systems: Proceedings, Fourth Annual Conference (forthcoming)
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Temporal reasoning based on semi-intervals.Christian Freksa - 1992 - Artificial Intelligence 54 (1-2):199-227.
Qualitative navigation for mobile robots.Tod S. Levitt & Daryl T. Lawton - 1990 - Artificial Intelligence 44 (3):305-360.

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