This book focuses on the efficient performance of mobile robots through the use of multi-hierarchical symbolic representations of the environment. A mobile robot intended to perform deliberative actions must have some symbolic representation of the workspace, but such representations of real environments usually become so large to be easily organized to facilitate and, in some cases, allowing its use. Apart from the lack of dealing with large amounts of information, other problems stand out when using symbolic representation. Practical solutions tested on real robots (for example, wheelchair robot for the elderly) are provided. This book is intended for PhD students and in general for robotics, computer science and artificial intelligence researchers.