NAVIGATION INFORMATION

Methods and apparatuses for generating information for navigation in an environment are disclosed. The method comprises generating, by a device, state information about a part of the environment where the device is positioned, receiving, by the device from at least one other device, messages comprising state information about a part of the environment where the at least one other device is positioned, the meaning of the messages being learned based on emergent communication, abstracting the state space for the environment by an abstractor module based on the generated state information and the received state information messages to provide an abstracted state space, and generating information for the device by a reinforced learning module for navigation in the environment based on the abstracted state space and further state information generated by the device and received from the at least one other device.