In this paper, we present a study how to construct a network in the artificial pheromone system composed of data carriers and autonomous robots. Inspired by the creatures, such as ant community that establish and maintenance expected path in the network by using pheromone, we investigate the effect of putting pheromone in the system. First, we assume that an environment is a two-dimensional finite region with distributed data carriers on it. Agents do not have any map. Therefore, we introduce intelligent node (IN) for localization and has ability as mediator between agents. In this system, IN gathers information and makes suggestions to the robot. We focus on the process of the mobile robot to put or not the pheromone for network configuration. Then we optimize the network construction by arranging time duration of the robot for putting the pheromone based on the IN suggestion. The artificial pheromone potential field network constructed using our proposed model can be used for the navigation of autonomous robots.
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