This paper presents the implementation of a communication system Bluetooth for synchronous communication between autonomous robots moving between predefined appointments points. Every robot executes individual tasks such as navigation and obstacle avoidance. Also, it executes global tasks such as synchronization for a pair of robots appointments in predetermined points and a synchronous communication establishment. A full-duplex communication algorithm between two Lego Mindstorms robots, in a configuration Master - Slave, was developed and implemented using the Java language and Lejos technology. To establish a synchronous communication between master robot and slave robot into a bounded time, we modeled the system using P-temporal Petri nets can represent parallel systems under time constraints to calculate the waiting time maximum of each robot on his appointment point.
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