B. J. Kuipers. 1978.
Modeling spatial knowledge.
Cognitive Science 2: 129-153, 1978.
A person's cognitive map, or knowledge of large-scale space, is built up from observations gathered as he travels through the environment. It acts as a problem solver to find routes and relative positions, as well as describing the current location. The TOUR model captures the multiple representations that make up the cognitive map, the problem-solving strategies it uses, and the mechanisms for assimilating new information. The representations have rich collections of states of partial knowledge, which support many of the performance characteristics of common-sense knowledge.