  In a diverse set of robotics applications, including RoboCup categories,
mobile robots require control commands to interact with surrounding environment
correctly. These control commands should come wirelessly to not interfere in
robots' movement; also, the communication has a set of requirements, including
low latency and consistent delivery. This paper presents a complete
communication architecture consisting of computer communication with a base
station, which transmits the data to robots and returns robots telemetry to the
computer. With the proposed communication, it is possible to send messages in
less than 4.5ms for six robots with telemetry enables in all of them.
