Enabling Lego Robots to Communicate Routing

The LegOS (Lego Operating System) on top of an RCX system is an example of an operating system that enables infrared communication. Infrared communication is easy to implement in terms of hardware and software, but allowing three or more robots to participate in the communication is hard to accomplish through infrared techniques. This paper suggests a technique that allows communication among multiple robots in random positions through routing. It achieves this by modifying the LNP protocol of LegOS. We show the algorithm and explain what changes are made to the LegOS kernel.