The implementation of robotic cooperative tasks such as pushing an object toward a desired destination or manipulating an object using mobile robots or robotic arms requires motion coordination between the robot colony. When a robot is built by the union of several robots, such as modular robot systems, it is critical to have the complete coordination of each robot configuration within the colony and also overall robot coordination of the colony. The paper presents a demonstration of parallel motion for modular robot configurations through the combination of two types of communications, i.e., Inter-robot and Intra-robot communications. The two types of communications are described and implemented in a real modular robot system. Experiments are executed to show the performance of the robot colony synchronization.
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