Spatial reasoning is any form of reasoning about locations, physical arrangements of objects, containment , etc. This might use exact locations eiether absolute such as GPS coordinates or relative such as ""the robot grip is 10cm away from the cup". Alternatively, it may use more analogue rules such as "the cup is inside the box".
Used in Chap. 2: page 24
Links:
Wikipedia: 
Examples of spatial relations (source Krauss CC BY-SA 3.0, via Wikimedia Commons)
