Abstract-This paper presents, first, the maam 1 project which is a self-reconfigurable robotic architecture where each module is autonomous for energy and CPU. This robot provides a full software/hardware micro-architecture that underlies a language abstraction for command/control purpose. Because the synchronization between modules (or between groups) is a crucial aspect (docking, synchronized movements . . . ), we focus here on the communication aspects, in particular how we abstract them with a language based solution.