Dídac Busquets A multi-agent approach to qualitative navigation in robotics. Polytechnic University of Catalonia, Spain 2003 http://hdl.handle.net/10803/6641 http://www.tdx.cat/TDX-0915103-164017 https://doi.org/10.5821/dissertation-2117-93952 https://www.base-search.net/Record/ad2c16a006937090cd75ab39935973410cec37dbf05cdf37c8e1be2a6fc66fc2 base-search.net (ftupcatalunya:oai:www.tdx.cat:10803/6641)