A simple protocol for a society of NXT robots communicating via Bluetooth

The paper presents a simple high-level communication protocol that provides negotiations in mobile robots´ societies. The protocol is based on a master-slave scheme, which is supported by standard Bluetooth protocol as it is implemented in NXT Lego Robots, and allows one-to-many communication. The suggested communication scheme and protocol are implemented in C++ and NXC using Bluetooth communication libraries. Their actions are illustrated by examples of dataflow and corresponding robots´ operations.