Communication protocols play a crucial role in enabling mobile robot systems to address real-world applications effectively. Traditional wired networks, such as Profinet, RS-485, and CAN Bus, are commonly utilized, relying on twisted pair cables at the physical layer and adhering to OSI or serial communication models. However, the use of wired communication protocols introduces potential risks, particularly in mobile robots. Continuous movement can lead to communication losses between modules, and certain environmental conditions may cause total disconnection, resulting in operational errors, reduced mobility, and limitations in the robot’s travel distance. To address these challenges, the development and integration of decentralized wireless communication protocols (AD-HOC) are proposed as the most viable solution. Wireless protocols offer greater flexibility and reliability, making them ideal for robots operating in hard-to-reach or dynamic environments. This research contributes by analyzing and comparing the performance of three wireless communication protocols: Wi-Fi, Bluetooth Low Energy (BLE), and LoRa. The study evaluates these protocols based on key metrics such as power consumption, transmission speed, and cost, to determine the most suitable option for optimizing the performance of modular robotic systems.