Shazia Haque Lars Kulik Alexander Klippel Algorithms for Reliable Navigation and Wayfinding. 308-326 2006 conf/spatialCognition/2006 Spatial Cognition http://dx.doi.org/10.1007/978-3-540-75666-8_18 db/conf/spatialCognition/spatialCognition2006.html#HaqueKK06