Thanks for your interest in ATS!
The paper you mentioned below is an abstract.
I suggest that you read the following one first:
http://www.ats-lang.org/Papers.html#Dependent_MLwhich is a lot easier to access.
Definition 1 introduces an abstract constraint relation. The regularity
conditions in Figure 2 are a bit like axioms: Only a constraint relation
that satisfies these conditions is considered "regular". For instance,
we may consider a type of geometry "regular" if we can only draw one
line passing through a given point that is parallel to another given line.
Hope this helps :)