Autonomous mobile robot control has many varied approaches. Tradit ional de-liberative systems attempt to provide robot control using map construction, plan-ning and localisation. These competencies require high fidelity sensors and sub-stantial processing capabilities, this increases both cost and size of robot plat-forms. Conversely, Behaviour-based robotic control allows simple robots to be developed which can exhi bit robust performance, with reactive properties in unstructured environments. These control systems do not rely on any symbolic representations of the world. Additionally, it is also possible t o deploy teams of cooperating robots. Multiple mobile robots are used to perform tasks which either are unachievable for a single robot or that benefit from increased numbers. Such team activities require some mechanism for communicating between team members. However the literature suggests that high bandwidth, explicit communications are often unnecessary when simpler methods are available. The current technologies that are most popular for inter-robot communication are wireless LAN standards and Infra-red. But it is the hypothesis of this thesis that Bluetooth -a recent radio communications system -is suitable for adoption on mobile robot systems. As Bluetooth is engineered for low power operation, we posit that it is most appropriate for lightweight, reactive systems. In this thesis, a robot communications scheme is presented, which provides simple state signalling using the discovery procedure of Bluetooth. This thesis also provides implementation details of the software component s necessary for inter-facing Bluetooth hardware to a reactive control system for an embedded robot controller. A Bluetooth modelling framework has been developed, which is used to perform protocol analysis and provide performance measures for the scheme. T he modelling framework is coupled to a multi-robot simulator in order to carry out experimental observation on teams of robots equipped with Bluetooth, which perform search and rescue style tasks. Extensions to the scheme are highlighted, in order to support further explicit communications between autonomous mobile robots, where higher capacity data transfer is required in addition to simple signalling. This thesis concludes that Bluetooth is an appropriate standard for lightweight mobile robots and can be integrated simply. However, the performance limitations of the specific protocols which we use, make this communications scheme only useful for the class of data which may be propagated in a multi-hop fashion. Localised information suffers too much from detrimental interference and can only be used in limited circumstances.