1. T. Duckett, U. Nehmzow, Experiments in evidence-based localisation for a mobile robot, in: Proceedings of the AISB Workshop on Spatial Reasoning in Mobile Robots and Animals, 1997.
2. A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations;Kuipers;Robotics and Autonomous Systems,1991
3. W. Lee, Spatial semantic hierarchy for a physical robot, Ph.D. Thesis, Department of Computer Sciences, The University of Texas at Austin, 1996.
4. M. López-Sánchez, R. López de Màntaras, C. Sierra, Possibility theory-based environment modelling by means of behaviour-based autonomous robots, in: Proceedings of ECAI’98: 13th Biennial European Conference on Artificial Intelligence, Brighton, UK, 1998, pp. 590–594.
5. Integration of representation into goal-driven behavior-based robots;Matarić;IEEE Transactions on Robotics and Automation,1992