  Despite the prevalence of wireless connectivity in urban areas around the
globe, there remain numerous and diverse situations where connectivity is
insufficient or unavailable. To address this, we introduce mobile wireless
infrastructure on demand, a system of UAVs that can be rapidly deployed to
establish an ad-hoc wireless network. This network has the capability of
reconfiguring itself dynamically to satisfy and maintain the required quality
of communication. The system optimizes the positions of the UAVs and the
routing of data flows throughout the network to achieve this quality of service
(QoS). By these means, task agents using the network simply request a desired
QoS, and the system adapts accordingly while allowing them to move freely. We
have validated this system both in simulation and in real-world experiments.
The results demonstrate that our system effectively offers mobile wireless
infrastructure on demand, extending the operational range of task agents and
supporting complex mobility patterns, all while ensuring connectivity and being
resilient to agent failures.
