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Communication mechanism is a key problem for multi-robot research. The communication characteristics of a reconfigurable planetary multi-robot system are analyzed. According to the function requirement of the multi-robot system, enlightened by the principle of TDMA (Time Division Multiple Address) and rotational mechanism, a novel multi-robot wireless communication mechanism is proposed. The mechanism and the communication protocol are also described in detail. Simulation and experimentation both prove the feasibility and practicability of the proposed mechanism.