  In this work, we introduce Mobile Wireless In-frastructure on Demand: a
framework for providing wireless connectivity to multi-robot teams via
autonomously reconfiguring ad-hoc networks. In many cases, previous multi-agent
systems either assumed the availability of existing communication
infrastructure or were required to create a network in addition to completing
their objective. Instead our system explicitly assumes the responsibility of
creating and sustaining a wireless network capable of satisfying end-to-end
communication requirements of a team of agents, called the task team,
performing an arbitrary objective. To accomplish this goal, we propose a joint
optimization framework that alternates between finding optimal network routes
to support data flows between the task agents and improving the performance of
the network by repositioning a collection of mobile relay nodes referred to as
the network team. We demonstrate our approach with simulations and experiments
wherein wireless connectivity is provided to patrolling task agents.
