Communication infrastructures of highly distributed software architectures are often complex to configure and costly to manage. Dynamics in the environment leading to a need for self-adaptation will further complicate maintenance. For this purpose we introduce Geminga, a service discovery approach for application in ad hoc networks and self-configuration of communication infrastructures. Tailored to unreliability in communication, it bridges the gap between traditional application domains of distributed architectures and groups of mobile robots. The applicability of Geminga is shown by adapting it to a software framework for autonomous soccer robots.