  We propose a method for providing communication network infrastructure in
autonomous multi-agent teams. In particular, we consider a set of communication
agents that are placed alongside regular agents from the system in order to
improve the rate of information transfer between the latter. In order to find
the optimal positions to place such agents, we define a flexible performance
function that adapts to network requirements for different systems. We provide
an algorithm based on shadow prices of a related convex optimization problem in
order to drive the configuration of the complete system towards a local
maximum. We apply our method to three different performance functions
associated with three practical scenarios in which we show both the performance
of the algorithm and the flexibility it allows for optimizing different network
requirements.
