@incollection{Freksa-etal2000-schematics,
  author	= {Freksa, C. and Moratz, R. and Barkowsky, T.},
  editor	= {Freksa, C. and Brauer, W. and Habel, C. and Wender, K. F.},
  year		= {2000},
  title		= {Schematic Maps for Robot Navigation},
  booktitle	= {Spatial Cognition II - Integrating Abstract Theories, Empirical Studies, Formal Methods, and Practical Applications},
  pages		= {100--114},
  address	= {Berlin},
  publisher	= {Springer}
}