@incollection{Freksa-etal2000-navigation,
  author	= {Freksa, Christian and Moratz, R. and Barkowsky, T.},
  editor	= {Pagello, E.},
  year		= {2000},
  title		= {Robot navigation with schematic maps},
  booktitle	= {Intelligent Autonomous Systems},
  volume	= {6},
  pages		= {809--816},
  publisher	= {IOS Press}
}