This chapter studies how basic spatial categories such as left-right, front-back, far-near or north-south can emerge in a population of robotic agents in co-evolution with terms that express these categories. It introduces various language strategies and tests them first in reconstructions of German spatial terms, then in acquisition experiments to demonstrate the adequacy of the strategy for learning these terms, and finally in language formation experiments showing how a spatial vocabulary and the concepts expressed by it can emerge in a population of embodied agents from scratch.
