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For modelling communication between animats (e.g. autonomous robots) we describe several communication systems. Some of them are rule-based systems; others are self-organised systems (coupling of dynamical systems under resonance). Among the former systems we can pick out two extensions of Milner's SCCS system: WSCCS and CBS. Other proposals include constraint logic programming. Among the latter systems we mention the coupling of oscillators. This approach is also well-suited for the description of a system which should represent a dynamics given a priori. Practical systems already implemented are the MIT behavioural language and the Brussels "insect-based" language. These systems are rule-oriented.