@INPROCEEDINGS{Wagner,
  author = {Wagner, Thomas and Visser, Ubbo and Lattner, Andreas D. and Herzog,
	Otthein},
  title = {Qualitative Egocentric Updating for Autonomous Mobiles},
  booktitle = {5th IFAC Symposium on Intelligent Autonomous Vehicles},
  year = {2004},
  month = {July5--7},
  abstract = {Navigation is one of the most fundamental tasks to be accomplished
	by robots, autonomous vehicles as well as cognitive systems. In this
	paper we propose an egocentric, qualitative approach to navigation
	based on ordering information. It allows qualitative navigation in
	combination with path integration and supports validation of path
	integration data. We claim that such a representation in combination
	with path integration provides sufficient information to guide navigation
	with limited effort to the vision process.},
  owner = {pmania},
  timestamp = {2012.11.06},
  url = {http://www-agki.tzi.de/grp/ag-ki/download/2004/Wagneretal04.pdf}
}