@inbook{Triggs_1991,
title={The Oxford Robot World Model},
ISBN={9783642764653},
url={http://dx.doi.org/10.1007/978-3-642-76465-3_16},
DOI={10.1007/978-3-642-76465-3_16},
booktitle={Expert Systems and Robotics},
publisher={Springer Berlin Heidelberg},
author={Triggs,
Bill and Cameron,
Stephen},
year={1991},
pages={275–284} }