@book{DBLP:books/sp/Wolter08,
author = {Diedrich Wolter},
title = {Spatial Representation and Reasoning for Robot Mapping -
A Shape-Based Approach},
publisher = {Springer},
series = {Springer Tracts in Advanced Robotics},
volume = {48},
year = {2008},
isbn = {978-3-540-69011-5},
pages = {1-174},
ee = {http://dx.doi.org/10.1007/978-3-540-69012-2},
bibsource = {DBLP, http://dblp.uni-trier.de}
}