Countries such as Indonesia and Japan are prone to disasters. Telecommunication infrastructure are often damaged as a result of disasters, while reliable communication link is vital in search and rescue operation following a disaster. To overcome this problem, we developed swarm quadrotor robots capable of self-deployment and extending the coverage of available Wi-Fi network. Since most hand-held devices now has Wi-Fi connectivity, most device can join the network the quadrotors created. The quadrotor robot is based on Parrot ARDrone quadrotor with Wi-Fi adapters and added GPS module. This research focuses only on the self-deployment movement algorithm of the quadrotors which is based on Takahashi's distributed self-deployment algorithm. The implementation of routing protocol will be done in the next step of the research.