The purpose of this Book is to provide a better communications systems for the Robo soccer robots. The soccer robots are required to obtain commands from a host computer. The host computer is connected to an overhead camera that determines the location of robot and balls on the field. The host computer then makes use of a multi-agent planning system (MAPS) to determine the actions that the robots should take. These actions and the position of the robot and balls are transmitted to the robot via a wireless transmitter connected to the serial port of the host computer and receivers connected to the serial communications interface of the micro-controllers on the robots.