This document describes the Bachelor Graduation Project of the Communication and System integration group of the Zebro Localisation and Communication Module. The module has been designed for a Zebro which is a six legged robot with the purpose of working in swarm-related behaviour. To make this behaviour possible a new Localisation module for Zebro as well as a communication module has been designed with a corresponding processing unit. This thesis consists of two arts; the first part covers the development of a communication module capable of autonomous communication in an homogeneous network where no predefined routes are available, also known as a mesh network. The second part covers the integration of the communication, ranging and processing subgroups from which all the components are to be placed on a printed circuit board.