Infrared communication of leader-follower robots in home security system

In this paper, we applied CSMA (Carrier Sense Multiple Access) with infrared communication on leader-follower robot system via hierarchical communication. We define a simple protocol for communication between robots in the system. A home security system with many security modules installed in a house and a group of leader-follower mobile robots in charge of patrolling and monitoring was simulated for the communication. When fire or any accident happens, the leader robot will command the follower robots to the location.