Abstract
This paper deals with a voice navigation system for a multiagent mobile robot system. The robots which made by LEGO Mindstorms RIS play soccer with our another LEGO robot team which participates in the small-size RoboCup. The system consists of these five robots, a communication server, an image processing server and a client PC. The protocol of the communication with the servers and the client PC is TCP/IP and with the communication server and the robots is LNP via infrard transmitter/receiver. The voice recognition engine Julius developed in Kyoto University is installed, the database on the oral commands to the robots are constructed and some program modules are designed to control the robots in the PC.
