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My Wonderful Article in IEEE Format for IROS2000

Realistic applications of Autonomous Robotics need to face a lot of difficulties in real environments. To navigate, self-localize and cooperate in such contexts, a multi-robot system has to find a way to represent and communicate about its world. In this paper we discuss the necessity and the advantages of grounding representations and communications of a robots team in real perceptions. We describe a technical framework designed for this purpose, based on the classification of the perceptions of a robots population. Percepts must have specific properties to enable grounding, and we present particular percepts well suited to this process. Finally we discuss the possible usages of grounded classes and propose a grid representation for fusion and exchange.