Bluetooth Piconet based P2P communication among LEGO multi-robots

P2P conmmunication is the basis of constructing multi-robot system.Due to limited resources,the bluetooth Scatternet is not suitable for the realization of P2P.In this paper,a PC with bluetooth was used as the master device and central controllor,a logical P2P network based on bluetooth Piconet was realized with receiving/buffering/forwarding messages from all NXTs by the communication server on the PC.The feasibility of the network was verified by the research work of a type of 4-cooperative dancing robot.