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Elmogy, M., Habel, C. & Zhang, J. Spatial language for route-based humanoid robot navigation. Cogn Process 10 (Suppl 2), 208–211 (2009). https://doi.org/10.1007/s10339-009-0290-y
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DOI: https://doi.org/10.1007/s10339-009-0290-y