ABSTRACT
In this chapter, we present an approach for engineering-grounded sym bolic communication between heterogeneous cooperating robots. It in volves designing behavior that develops shared groundings between them. We demonstrate a situated, embodied, behavior-based multirobot system that implements a cooperative cleaning task using two autonomous mo bile robots. They develop shared groundings that allow them to ground a symbolic relationship between positions consistently. We show that this enables symbolic communication of locations between them.
