I would like to make a component diagram for a multiple robot coordination system.
I would like to show on the component diagram that the sub-component "Perception" of each "Robot" component communicates through an interface with each other. Indeed, the sensors of all robots are used in order to estimate the position/velocity of each robot, it is a cooperative sensing.
How can I do that ? Should I have an interface which would be both provided and required by the component "Robot" ?
Thanks.