In recent years, application of multiple robots system for a large scale system, such as a smart factory, is expected. A system consisting of heterogeneous robots can select the function by switching a combination of the robots according to a purpose. Therefore, the system is more versatile than a single robot on which multiple functions are installed. When the system is controlled by distributed system management, it is an essential technique that the robots communicate with each other. We have developed spatially seamless local communication system in order to exchange information between the robots without convergences. This system ensures spatially seamless communicable area towards robot's surroundings by rotating a transmitter and a receiver. However, a bit rate of communication using the system is insufficient. Although the system has redundant frame structure to detect interference between signals from different transmitters, it causes decrease of the bit rate. In this paper, we aim to improve the bit rate by reducing frame length of transmission pulse while retaining the interference detection function.
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