@InCollection{Reineking2008,
  author    = {Thomas Reineking and Christian Kohlhagen and Christoph Zetzsche},
  title     = {Efficient Wayfinding in Hierarchically Regionalized Spatial Environments},
  booktitle = {Spatial Cognition {VI}. Learning, Reasoning, and Talking about Space},
  publisher = {Springer Science + Business Media},
  year      = {2008},
  pages     = {56--70},
  abstract  = {Humans utilize region-based hierarchical representations in the context of navigation. We propose a computational model for representing region hierarchies and define criteria for automatically generating them. We devise a cognitively plausible wayfinding algorithm exploiting the hierarchical decomposition given by regions. The algorithm allows to derive plans with decreasing detail level along paths, enabling an agent to obtain the next action in logarithmic time and complete solutions in almost linear time. The resulting paths are reasonable approximations of optimal shortest paths},
  doi       = {10.1007/978-3-540-87601-4_7},
  keywords  = {former_inproceedings},
  url       = {10.1007/978-3-540-87601-4_7">http://dx.doi.org/10.1007/978-3-540-87601-4_7},
}