An on-demand method of routing data between a plurality of local peer groups (LPG). Each LPG includes a plurality of moving nodes. The method comprises transmitting a route request message from a source node, relaying the route request message to a native boundary node; forwarding the route request message to a foreign boundary node, determining if the destination node is within an LPG for the foreign boundary node; relaying the route request message to another boundary node if the destination node is not within the LPG, relaying the route request message to the destination node if the destination node is within the LPG, receiving the routing request message at the destination node, transmitting a routing response to the source node, relaying the routing response to the source node through a path discovered by the route request, receiving the routing response at the source node, and transmitting the data, upon receipt of the routing response.