In this paper we present the "grounded adaptive agent" computational framework for studying the emergence of communication and language. This modeling framework is based on simulations of population of cognitive agents that evolve linguistic capabilities by interacting with their social and physical environment (internal and external symbol grounding). These models provide an integrative vision of language where the linguistic abilities of cognitive agents strictly depend on other social, sensorimotor, neural and cognitive capabilities. Here language is not seen as an isolated and dedicated symbol processing system, but rather as a heterogeneous set of artifacts implicated in cultural and cognitive activities. The proposed modeling approach is also closely related to embodied cognition theories of the grounding of language in the organism's perceptual and motor systems. (Contains 2 tables and 6 figures.)