A cornerstone for cognitive mobile agents is to represent the vast body of knowledge about space in which they operate. In order to be robust and efficient, such representation must address requirements imposed on the integrated system as a whole, but also resulting from properties of its components. In this paper, we carefully analyze the problem and design a structure of a spatial knowledge representation for a cognitive mobile system. Our representation is layered and represents knowledge at different levels of abstraction. It deals with complex, cross-modal, spatial knowledge that is inherently uncertain and dynamic. Furthermore, it incorporates discrete symbols that facilitate communication with the user and components of a cognitive system. We present the structure of the representation and propose concrete instantiations.
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