Christian Freksa, Reinhard Moratz, Thomas Barkowsky. Schematic Maps for Robot Navigation. In Christian Freksa, Wilfried Brauer, Christopher Habel, Karl Friedrich Wender, editors, Spatial Cognition II, Integrating Abstract Theories, Empirical Studies, Formal Methods, and Practical Applications. Volume 1849 of Lecture Notes in Computer Science, pages 100-114, Springer, 2000. [doi]
Abstract is missing.