Inferring the position of bodies from specified spatial relationships
Anthony P. Ambler, R. J. Popplestone · Artificial Intelligence and the Simulation of Behaviour · 1974
A program has been developed which takes a specification of a set of bodies and of spatial relations that are to hold between them in some goal state, and produces expressions denoting the positions of the bodies in the goal state, together with residual equations linking the variables in these expressions.