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There is a growing trend in robotics for implementing behavioural mechanisms basedon human psychology, such as the processes associated with thinking. Semantic knowledge hasopened new paths in robot navigation, allowing a higher level of abstraction in the representationof information. In contrast with the early years, when navigation relied on geometric navigatorsthat interpreted the environment as a series of accessible areas or later developments that ledto the use of graph theory, semanticdoi:10.3390/app10020497 fatcat:i244eumavvhqfgcxfkxeg5uhxa