Constraints and their role in subspacing for the locomotion types in indoor navigation

Most frameworks for indoor navigation focus on one single type of locomotion, i.e. either walking, driving, or flying. This decision often is crucial with respect to the way indoor environments are represented, and these representations typically cannot be used for other types of locomotion. For example, a graph-based abstraction of indoor spaces for pedestrian navigation is not suitable or sufficient for e.g. autonomously driving robots or flying UAVs.