Qualitative Spatial Reasoning about Relative Position

The Tradeoff between Strong Formal Properties and Successful Reasoning about Route Graphs
  • Reinhard Moratz
  • Bernhard Nebel
  • Christian Freksa
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2685)


Qualitative knowledge about relative orientation can be expressed in form of ternary point relations. In this paper we present a calculus based on ternary relations. It utilises finer distinctions than previously published calculi. It permits differentiations which are useful in realistic application scenarios that cannot directly be dealt with in coarser calculi. There is a price to pay for the advanced options: useful mathematical results for coarser calculi do not hold for the new calculus. This tradeoff is demonstrated by a direct comparison of the new calculus with the flip-flop calculus.


Qualitative Spatial Reasoning Cognitive Modelling Robot Navigation 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Reinhard Moratz
    • 1
  • Bernhard Nebel
    • 2
  • Christian Freksa
    • 1
  1. 1.Universität BremenBremenGermany
  2. 2.Institute for InformaticsUniversity of FreiburgFreiburgGermany

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