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The ability to persist in the spacial environment is, not only in the roboticcontext, an essential feature. Positional knowledge is one of the mostimportant aspects of space and a number of methods to represent theseinformation have been developed in the in the research area of spatialcognition. The basic qualitative spatial representation and reasoningtechniques are presented in this thesis and several calculi are brieflyreviewed. Features and applications of qualitative calculi are summarized. Anew calculus for representing and reasoning about qualitative spatialorientation and distances is being designed. It supports an arbitrary level ofgranularity over ternary relations of points. Ways of improving the complexityof the composition are shown and an implementation of the calculus demonstratesits capabilities. Existing qualitative spatial calculi of positionalinformation are compared to the new approach and possibilities for futureresearch are outlined.

Fine-grained Qualitative Spatial Reasoning about Point Positions