This thesis deals with the decentralized autonomous system, in which individual nodes acting like peers, communicate and participate in collaborative tasks and decision making processes. An experimental test-bed is created using four Garcia robots. The robots act like peers and interact with each other using user datagram protocol (UDP) messages. Each robot continuously monitors for messages coming from other robots and respond accordingly. Each robot broadcasts its location to all the other robots within its vicinity. Robots do not have built-in global positioning system (GPS). So, an indoor localization method based on signal strength is developed to estimate robot's position. The signal strength that the robot gets from the nearby wireless access points is used to calculate the robot's position. Trilateration and fingerprint are some of the indoor localization methods used for this purpose. The communication functionality of the decentralized system has been tested and verified in the autonomous systems laboratory.