In this paper, we present an intelligent and controllable ad hoc network using mobile robot routers in heterogeneous mobile environments. The goal of the mobile robots is to ensure a global wireless connectivity, and interconnection to a wired infrastructure. The support of real time multimedia services are also allowed by a cross-layer quality of service management combined with a terminal based routing protocol, providing good wireless link quality. Keywords Ad hoc, intelligent robot router, connectivity, real time support This work was funded by the ITEA Ambience project [1].