How to coordinate a set of robots is still an
open issue. It is a problem made up by several
sub-problems. One of them is how to share
information among the members of a team
without compromising the basic requirements
of the application. In this paper we show the
communication architecture we have designed
to let a team of robots communicate. We
present an application of this architecture to
implement a simple ball booking protocol to
share the information about the ball among
the robotic team members in the 4-legged
RoboCup. This protocol let us to define
strategies for optimizing our tactic during a
matc
