Patent 7379840 was granted and assigned to Raytheon on May, 2008 by the United States Patent and Trademark Office.
Moving a target mobile node to arrange a number of mobile nodes includes determining a first direction. A first relative position for each of the neighboring mobile nodes of the target mobile node is established. The target mobile node moves according to a first alignment procedure to align the mobile nodes in the first direction. A second direction substantially orthogonal to the first direction is determined. A second relative position for each of the neighboring mobile nodes is established. The target mobile node moves according to a second alignment procedure to align the mobile nodes in the second direction.