In domains with low-bandwidth, single-channel, unreliable communication, several issues arise that need not be considered in most multiagent domains. We have presented a communication paradigm which successfully addresses these challenges. Having fully implemented it in the robotic soccer domain, we have tested the paradigm empirically both in a controlled setting and in competition against several previously unseen opponents. Using this paradigm, the CMUnited'97 simulator team made it to the semi-finals of RoboCup'97.