Daniele Calisi Alessandro Farinelli Giorgio Grisetti Luca Iocchi Daniele Nardi S. Pellegrini D. Tipaldi Vittorio A. Ziparo Uses of Contextual Knowledge in Mobile Robots. 543-554 2007 conf/aiia/2007 AI*IA http://dx.doi.org/10.1007/978-3-540-74782-6_47 db/conf/aiia/aiia2007.html#CalisiFGINPTZ07