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Documents authored by Falomir, Zoe

Artifact
Software
DOI: 10.4230/artifacts.27847
Ejarque24/Extended-Q3D

Authors: Martí Ejarque and Zoe Falomir

Abstract
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@misc{dagpub-supp--paper-25494-urlgithub.com-Ejarque24-Extended-Q3D,
   title = {{Ejarque24/Extended-Q3D}}, 
   author = {Ejarque, Mart{\'\i} and Falomir, Zoe},
   note = {Software (visited on 2026-09-10)},
   url = {https://github.com/Ejarque24/Extended-Q3D},
}
Document
DOI: 10.4230/LIPIcs.COSIT.2026.5
An Extended Qualitative Model for Reasoning About 3D Objects Using Depth and Different Perspectives

Authors: Martí Ejarque and Zoe Falomir

Published in: LIPIcs, Volume 393, 17th International Conference on Spatial Information Theory (COSIT 2026)

Abstract
Reconstructing a three-dimensional structure from partial two-dimensional views requires spatial reasoning. This paper presents the EQ3D, a dimension-agnostic extension of the Qualitative 3D (Q3D) model that generalises qualitative volumetric reasoning to arbitrary H× W× L configurations. EQ3D preserves symbolic depth representations while incorporating adjacent-view propagation rules that increase cross-view inference opportunities. Implemented in SWI-Prolog as a fully declarative pipeline, EQ3D infers hidden views from three orthographic Front-Right-Up views, producing correct inferred cells for the Q3D-Dataset which includes 24 objects of varying size and shape, while ambiguous cells remain explicitly undetermined. Coverage of hidden structure ranges from 26.85% to 82.67%, demonstrating that while inference remains logically sound, the proportion of determinable volume is inherently configuration-dependent. EQ3D provides an interpretable symbolic framework for qualitative 3D reasoning that scales across resolutions without size-specific adaptation.
Cite as

Martí Ejarque and Zoe Falomir. An Extended Qualitative Model for Reasoning About 3D Objects Using Depth and Different Perspectives. In 17th International Conference on Spatial Information Theory (COSIT 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 393, pp. 5:1-5:20, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{ejarque_et_al:LIPIcs.COSIT.2026.5,
  author =	{Ejarque, Mart{\'\i} and Falomir, Zoe},
  title =	{{An Extended Qualitative Model for Reasoning About 3D Objects Using Depth and Different Perspectives}},
  booktitle =	{17th International Conference on Spatial Information Theory (COSIT 2026)},
  pages =	{5:1--5:20},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-438-3},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{393},
  editor =	{Timpf, Sabine and Filomena, Gabriele and Kapaj, Armand and Zhu, Rui and Giudice, Nicholas A. and Manley, Ed},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.COSIT.2026.5},
  URN =		{urn:nbn:de:0030-drops-275490},
  doi =		{10.4230/LIPIcs.COSIT.2026.5},
  annote =	{Keywords: qualitative spatial reasoning, spatial cognition, first order logics, three-dimensional information, perspectives, object perception, SWI-Prolog}
}
Document
Short Paper
DOI: 10.4230/LIPIcs.COSIT.2026.24
Context-Sensitive Spatial Deixis Through the Lens of Mental Models (Short Paper)

Authors: Adwitiya Mandal, Zoe Falomir, and Kai-Florian Richter

Published in: LIPIcs, Volume 393, 17th International Conference on Spatial Information Theory (COSIT 2026)

Abstract
The use of spatial deixis, such as here and there, depends not only on physical distance, but also on how speakers mentally organize the relevant space. This paper examines how contextual factors may influence and shape the use of spatial deixis in an object-selection task. The analysis is based on verbal data from a previous human-robot interaction study, in which 12 participants referred to objects in a shared cupboard environment. Using Norman’s distinction of socio-cognitive systems, we interpret the observed deixis behavior as evidence for potential spatial mental models underlying participants' spatial deixis use. We find that speakers' deixis use reflects a combination of absolute, relative, mixed, temporal, and response-biased models rather than a single fixed strategy. Our findings support the view that spatial deixis is context-sensitive, shaped by the mental organization of the space and is variable across individuals, with implications for interpreting spatial deixis in human-robot interaction.
Cite as

Adwitiya Mandal, Zoe Falomir, and Kai-Florian Richter. Context-Sensitive Spatial Deixis Through the Lens of Mental Models (Short Paper). In 17th International Conference on Spatial Information Theory (COSIT 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 393, pp. 24:1-24:8, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{mandal_et_al:LIPIcs.COSIT.2026.24,
  author =	{Mandal, Adwitiya and Falomir, Zoe and Richter, Kai-Florian},
  title =	{{Context-Sensitive Spatial Deixis Through the Lens of Mental Models}},
  booktitle =	{17th International Conference on Spatial Information Theory (COSIT 2026)},
  pages =	{24:1--24:8},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-438-3},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{393},
  editor =	{Timpf, Sabine and Filomena, Gabriele and Kapaj, Armand and Zhu, Rui and Giudice, Nicholas A. and Manley, Ed},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.COSIT.2026.24},
  URN =		{urn:nbn:de:0030-drops-275689},
  doi =		{10.4230/LIPIcs.COSIT.2026.24},
  annote =	{Keywords: Spatial deixis, here and there, mental models, human-robot interaction, object selection, spatial cognition}
}
Document
Short Paper
DOI: 10.4230/LIPIcs.COSIT.2024.29
Assessing Perceived Route Difficulty in Environments with Different Complexity (Short Paper)

Authors: Arvid Horned, Zoe Falomir, and Kai-Florian Richter

Published in: LIPIcs, Volume 315, 16th International Conference on Spatial Information Theory (COSIT 2024)

Abstract
Today, anyone feeling lost in a city or unsure about how to navigate can use navigation services to look up routes to where they want to go. Current research investigating these services has primarily focused on how to find an appropriate route and how to best support navigation along it, and not how routes and the maps they are presented on are perceived. What makes one route look more difficult to navigate than another? And how does experience with using navigation services and maps in daily life influence how difficult a route is perceived to be? We explored these questions in a survey study where participants rated the perceived difficulty of pedestrian routes in ten different cities. The results show that routes in more complex urban environments were perceived as more complex than routes in easier environments. At least partly, perceived difficulty seems to follow earlier conceptualizations of route complexity, but open questions remain regarding the interplay of environmental structure, route properties, and the map representation.
Cite as

Arvid Horned, Zoe Falomir, and Kai-Florian Richter. Assessing Perceived Route Difficulty in Environments with Different Complexity (Short Paper). In 16th International Conference on Spatial Information Theory (COSIT 2024). Leibniz International Proceedings in Informatics (LIPIcs), Volume 315, pp. 29:1-29:8, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024)

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@InProceedings{horned_et_al:LIPIcs.COSIT.2024.29,
  author =	{Horned, Arvid and Falomir, Zoe and Richter, Kai-Florian},
  title =	{{Assessing Perceived Route Difficulty in Environments with Different Complexity}},
  booktitle =	{16th International Conference on Spatial Information Theory (COSIT 2024)},
  pages =	{29:1--29:8},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-330-0},
  ISSN =	{1868-8969},
  year =	{2024},
  volume =	{315},
  editor =	{Adams, Benjamin and Griffin, Amy L. and Scheider, Simon and McKenzie, Grant},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.COSIT.2024.29},
  URN =		{urn:nbn:de:0030-drops-208444},
  doi =		{10.4230/LIPIcs.COSIT.2024.29},
  annote =	{Keywords: navigation complexity, perceived difficulty, route display, spatial cognition}
}
Document
DOI: 10.4230/DagRep.11.11.1
Representing and Solving Spatial Problems (Dagstuhl Seminar 21492)

Authors: Pedro Cabalar, Zoe Falomir, Paulo E. Santos, and Thora Tenbrink

Published in: Dagstuhl Reports, Volume 11, Issue 11 (2022)

Abstract
Everyday life takes place in space and time, and spatial experience lies at the heart of our existence. Understanding how we conceive spatial relations, and how we solve spatio-temporal problems, is therefore key to understanding human cognition. Spatial cognition research has advanced considerably over the past decades, with major successes particularly in computational implementations of knowledge representation and reasoning methods. Still, a range of key issues continue to pose major challenges. The goal of this report is to discuss the various options for the formalisation, implementation and automated solution of spatial problems including the following issues: the identification and specification of relevant concepts as expressed in human language; modules for automated understanding of domain descriptions; the use of spatial structures and affordances for direct spatial problem solving; and, the development of efficient planning systems capable of providing feasible solutions to spatial problems. This report documents the program and the outcomes of Dagstuhl Seminar 21492 "Representing and Solving Spatial Problems".
Cite as

Pedro Cabalar, Zoe Falomir, Paulo E. Santos, and Thora Tenbrink. Representing and Solving Spatial Problems (Dagstuhl Seminar 21492). In Dagstuhl Reports, Volume 11, Issue 11, pp. 1-55, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2022)

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@Article{cabalar_et_al:DagRep.11.11.1,
  author =	{Cabalar, Pedro and Falomir, Zoe and Santos, Paulo E. and Tenbrink, Thora},
  title =	{{Representing and Solving Spatial Problems (Dagstuhl Seminar 21492)}},
  pages =	{1--55},
  journal =	{Dagstuhl Reports},
  ISSN =	{2192-5283},
  year =	{2022},
  volume =	{11},
  number =	{11},
  editor =	{Cabalar, Pedro and Falomir, Zoe and Santos, Paulo E. and Tenbrink, Thora},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagRep.11.11.1},
  URN =		{urn:nbn:de:0030-drops-159387},
  doi =		{10.4230/DagRep.11.11.1},
  annote =	{Keywords: knowledge representation, language analysis and cognitive processes, problem solving, spatial reasoning}
}
Document
DOI: 10.4230/LIPIcs.COSIT.2017.3
A Qualitative Spatial Descriptor of Group-Robot Interactions

Authors: Zoe Falomir and Cecilio Angulo

Published in: LIPIcs, Volume 86, 13th International Conference on Spatial Information Theory (COSIT 2017)

Abstract
The problem of finding a suitable qualitative representation for robots to reason about activity spaces where they carry out tasks such as leading or interacting with a group of people is tackled in this paper. For that, a Qualitative Spatial model for Group Robot Interaction (QS-GRI) is proposed to define Kendon’s F-formations [Kendon, 2010] depending on: (i) the relative location of the robot with respect to other individuals involved in that interaction; (ii) the individuals’ orientation; (iii) the shared peri-personal distance; and (iv) the role of the individuals (observer, main character or interactive). An iconic representation is provided and Kendon’s formations are defined logically. The conceptual neighborhood of the evolution of Kendon formations is studied, that is, how one formation is transformed into another. These transformations can depend on the role that the robot have, and on the amount of people involved.
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Zoe Falomir and Cecilio Angulo. A Qualitative Spatial Descriptor of Group-Robot Interactions. In 13th International Conference on Spatial Information Theory (COSIT 2017). Leibniz International Proceedings in Informatics (LIPIcs), Volume 86, pp. 3:1-3:14, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2017)

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@InProceedings{falomir_et_al:LIPIcs.COSIT.2017.3,
  author =	{Falomir, Zoe and Angulo, Cecilio},
  title =	{{A Qualitative Spatial Descriptor of Group-Robot Interactions}},
  booktitle =	{13th International Conference on Spatial Information Theory (COSIT 2017)},
  pages =	{3:1--3:14},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-043-9},
  ISSN =	{1868-8969},
  year =	{2017},
  volume =	{86},
  editor =	{Clementini, Eliseo and Donnelly, Maureen and Yuan, May and Kray, Christian and Fogliaroni, Paolo and Ballatore, Andrea},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.COSIT.2017.3},
  URN =		{urn:nbn:de:0030-drops-77628},
  doi =		{10.4230/LIPIcs.COSIT.2017.3},
  annote =	{Keywords: qualitative modeling, spatial reasoning, location, distance, orientation, cognitive robotics, human-robot interaction, group-robot interaction, logics}
}

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