Paolo CoraggioMassimo De GregorioManolo ForastiereRobot Navigation Based on Neurosymbolic Reasoning over Landmarks.1001-1014200822Int. J. Pattern Recognit. Artif. Intell.5https://doi.org/10.1142/S0218001408006624db/journals/ijprai/ijprai22.html#CoraggioGF08