@article{westphal_et_al_scc11,
   author = {M. Westphal and C. Dornhege and S. W{\"o}lfl and M. Gissler and B. Nebel},
   affiliation = {Dept. of Computer Science, University of Freiburg,
	Georges-K{\"o}hler-Allee 052, 79110 Freiburg, Germany},
   title = {Guiding the Generation of Manipulation Plans by Qualitative Spatial Reasoning},
   journal = {Spatial Cognition and Computation: An Interdisciplinary Journal},
   volume = {11},
   number = {1},
   pages = {75-102},
   year = {2011}
}