@article{SchifferFLFL12,
  author    = {Stefan Schiffer and Alexander Ferrein and Gerhard
                  Lakemeyer},
  title     = {Reasoning with Qualitative Positional Information for Domestic
               Domains in the Situation Calculus},
  journal   = {Journal of Intelligent and Robotic Systems},
  volume    = {66},
  number    = {1-2},
  year      = {2012},
  pages     = {273-300},
  ee        = {http://dx.doi.org/10.1007/s10846-011-9606-0},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

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