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In autonomous distributed robot systems, many robots cooperate together to carry out many difficult tasks that single robot can not realize. But, in order to cooperate together the robots should communicate with each other. Therefore, the communication among robots is very important problem to be solved. In this paper, we propose an adaptive reservation-time division multiple access (AR-TDMA) medium access control protocol. We carried out computer simulation to evaluate the performance of proposed method. The simulation results show that the proposed protocol has better scalability characteristics and object transportation time compared with a conventional protocol.