Communication network expansion technology using autonomous robot covers three research fields which includes network expansion, network routing, and localization. On this research, we implement an efficient robot formation and network expansion algorithm on a simulator based on Open Dynamics Engine (ODE) library. We extended the robot formation algorithm to handle multiple sources implementation to keep communication linkage between communication towers. We also developed a network routing algorithm and implement the robot formation algorithm on real autonomous robots hardware. The result of simulation shows that our proposed communication network expansion technology is visible to be implemented. Therefore, we designed an autonomous robot meeting the requirement set in the simulation.