Autonomous robotic systems are becoming more common, raising the problem of configuring and coordinating a large number of robotic entities. Swarm robotics is one solution to these problems. We sought to develop a method for facilitating configuration in swarm robotic systems which communicate over Wi-Fi. For this, we took inspiration from ad-hoc networks which provide some self-configuration capabilities. We developed a plug-and-play algorithm which requires user intervention only for the first robot to be configured, while for further robots the configuration is automatically. We implemented the algorithm on a mobile robot prototype (CRIS) and tests were performed on a small number of CRIS robots. The results revealed that the algorithm performed as expected, with swarm configuration being completed in less than one minute for a group of three robots. Our proposed algorithm is a promising first step in a wide range of self-configuration methods for mobile robotic systems and beyond.