## 1 Introduction
[PERSON] et al. [17] described a distributed multi-level supervisor system for monitoring the operation of autonomous agricultural vehicles in agricultural tasks. The system has a real-time warning system to detect a failure or potentially dangerous situations for notifying the user. In addition, the system performs the anti-collision mechanism to prevent collisions between vehicles by taking action to avoid intersecting trajectories. [PERSON] et al. [18] developed the multi-robot system, which consists of heterogeneous ground and aerial robots for effective weed and pest control aimed at diminishing the use of agricultural chemical inputs, increasing crop quality, and improving the health and safety of production operators. Wireless access to telemetry data is the current trend in precision farming technology, especially autonomous mobile robots, because of providing quickness, easiness, mobility, feasibility, and flexibility. Peer-to-peer technologies such as Bluetooth [19], ZigBee [20], and WiFi [21] are used to send data wirelessly from point to point in precision farming applications. Especially in multi-robot systems, wireless data exchange is so important for monitoring and controlling the working environment. In the literature, there are limited studies about wireless R2R communication systems for precision farming applications. [PERSON] et al. [22] developed an autonomous agricultural robot prototype (AgriBot) for performing various agricultural tasks such as seeding,weeding, and spraying fertilizers. The robot is communicated with the operator and other robots through a Wi-Fi communication system. Researchers reported that the basic design of an autonomous robot can work in small areas but, it can be designed to work in large areas of the field with the use of a Wi-Fi signal booster. [PERSON] [23] proposed the WiFi wireless controlled agricultural robot system to reduce pesticides and improve spraying efficiency. The researcher used a wireless router to monitor the microcontroller core. The wireless router was used to remote control the robot and to transmit video data to the phone. The client-server-based control software was developed using Java language in the Eclipse development platform. Researchers reported that the proposed design realizes spraying pesticides by the robot without any problem and achieves good results. [PERSON] and [PERSON] [24] described a new agricultural sensor data gathering and logging platform based on IEEE 802.11 WiFi technology. The proposed system includes many sensor types such as weather, tank and irrigation water levels, and soil status sensing. For this reason, researchers reported that Wi-Fi is an attractive choice for their application because of the wide range of other devices that need connectivity in the system. [PERSON] et al. [25] designed and developed a UV-Robot supervision system for controlling the robot that is used in greenhouse mildew treatment operations. Researchers reported that the position of the robot can be determined through possible Wi-Fi technology in farming areas. [PERSON] et al. [26] carried out a project to bridge the gap between the current and desired capabilities of agricultural robots by developing an adaptable robotic solution for precision farming that combines autonomous unmanned aerial vehicles and ground vehicles. In a designed system, each robot can communicate with others via Wi-Fi to be able to run coordinated missions between the robots. Researchers reported that the proposed solutions are easily applicable to a wide range of robots, and farm management activities. The critical issue of the multi-robot systems is providing coordination between the mobile robots while sharing the same workspace for avoiding collision [27]. To solve this problem, mobile robots need to be informed about the temporal and spatial situations of other mobile robots working around them.