@INCOLLECTION{spranger:12e, author = {Spranger, M. and Pauw, S.},title = {Dealing with Perceptual Deviation - Vague Semantics for Spatial Language and Quantification},year = {2012},booktitle = {Language Grounding in Robots},pages = {173--192},publisher = {Springer},editor = {Steels, Luc and Hild, M.},chapter = {9},address = {},}