 Centralized control is often based on a "star" approach, where robots take turns to talk to the controller station.However, with wireless ad hoc networks, robots can form a communication network on-the-fly, i.e., robots can now "talk" to each other and collaborate in a distributed fashion.With a network of robots, the robots can communicate among themselves, share local information, and distributively decide how to resolve a task in the most effective and efficient way.