  The ability to persist in the spacial environment is, not only in the robotic
context, an essential feature. Positional knowledge is one of the most
important aspects of space and a number of methods to represent these
information have been developed in the in the research area of spatial
cognition. The basic qualitative spatial representation and reasoning
techniques are presented in this thesis and several calculi are briefly
reviewed. Features and applications of qualitative calculi are summarized. A
new calculus for representing and reasoning about qualitative spatial
orientation and distances is being designed. It supports an arbitrary level of
granularity over ternary relations of points. Ways of improving the complexity
of the composition are shown and an implementation of the calculus demonstrates
its capabilities. Existing qualitative spatial calculi of positional
information are compared to the new approach and possibilities for future
research are outlined.
