Abstract
Up to now most of the algorithms of navigation have had the purpose of directing the system to one point in space. However, human beings communicate or share tasks among each other through the specification of spatial relations among elements or zones within the space. Heuristic Topological Qualitative Semantic (HTQS) is an algorithm to make decisions about navigation developed into the program of research denominated Multifunctional Robots On Topological Notions (MROTN). HTQS permits decisions to be taken about local navigation by means of establishing options concerning spatial relations which will enable new lines of research to be developed. Two lines of research which extend the scope of HTQS are thus presented. One is the inclusion of enclosure topological relations to describe spatial situations. The other is about the use of fuzzy topological relations to control velocity.
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