Autonomic software deployment in open networked environments such as mobile and ad hoc networks is an open issue. Some solutions to software deployment exist; but, they are usable only within static topologies of devices. We propose a middleware architecture providing a constraint-based language guiding the deployment process at a high level and an autonomous agent-based system for establishing and maintaining a software deployment according to a deployment plan. Constraints solver generates the deployment plan from the initial specification and a network discovery service is used to automatically detect the target hosts. This paper presents middleware architecture that considers the challenges of deploying distributed software over mobile and ad hoc networks with minimal human oversight. We also present an implementation of a prototype and provide experimental results in both real environments.