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Visual reply to map-related queries-a free space graph approach.. VL, page 92-98. IEEE Computer Society, (1989)A Hierarchical Knowledge Structure for Heuristic Path Planning., and . IAS, page 230-240. IOS Press, (1989)Symbolic and Geometric Connectivity Graph Methods for Route Planning in Digitized Maps., and . IEEE Trans. Pattern Anal. Mach. Intell., 14 (5): 549-565 (1992)Visual reply to map-related queries.. J. Vis. Lang. Comput., 2 (2): 143-162 (1991)A knowledge-based approach to the shortest path problem in a digitized map., and . VL, page 248-255. IEEE Computer Society, (1988)An Architecture for Unified Dialogue in Distributed Object Systems., and . TOOLS (26), page 244-258. IEEE Computer Society, (1998)