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Communication network expansion technology using autonomous robot introduces three research fields which is network expansion, network routing, and localization. On this research, we tried to develop an efficient robot formation and network expansion that is implemented using Open Dynamics Engine (ODE) library and network routing algorithm. This paper also shows some modifications that have been done to improve the performance of robot formation and network routing process. In robot formation and network expansion process, step that has been done is multiple source implementations to keep communication linkage between communication towers. Besides that, we developed new routing protocol based on cluster based routing concept. The result of simulation shows that our proposed communication network expansion technology is visible to be implemented.