Robot soccer is one example of a real-time multirobot system. The cooperation among them is one of the challenges like to be overcome. Distributed approaches for local state exchanging like Real-time Databases (RTDB) are CPU demanding and complex to write and maintain. Thus, this work presents a new communication approach based on a centralized middleware named High-Level Architecture (HLA), where the robots adapt their transmission rate based on the performance of the other robots. At same time, we investigate the benefits and impacts of using HLA for real-time applications. Experiments demonstrated that all real-time requirements of a robot soccer application were reached using this approach, pointing to a new possibility for real-time communications between robots.