1. Escrig, M.T., Toledo, F.: Qualitative spatial Reasoning: Theory and Practice: Application to Robot Navigation. IOS Press, Amsterdam (1998)
2. Cohn, A.G., Renz, J.: Qualitative Spatial Representation and Reasoning. In: Handbook of Knowledge Representation, pp. 551–596. Elsevier, Amsterdam (2008)
3. Albath, J., Leopold, J.L., Sabharwal, C.L., Maglia, A.M.: RCC-3D: Qualitative Spatial Reasoning in 3D. Submitted to Journal of Biomedical Semantics (2009)
4. Randell, D.A., Cui, Z., Cohn, A., Nebel, B., Rich, C., Swartout, W.: A spatial logic based on regions and connection. In: Proceedings of the Third International Conference on Principles of Knowledge Representation and Reasoning, KR 1992, pp. 165–176. Morgan Kaufmann, San Francisco (1992)
5. Lecture Notes in Artificial Intelligence;J. Wallgrün,2007