A system for delivering neuromodulation therapy, comprising: a plurality of implantable neuromodulation units (700, 702, 703) wherein each such unit includes a programmable controller (10; 200), at least one of a neural stimulator (20; 205) and a sensor (30; 305) for measuring a physiological variable affected by neural stimulation, and a telemetry transceiver for communicating over a communication channel; wherein the neuromodulation units (700, 702, 703) are programmed to communicate bidirectionally with one another via telemetry as network nodes to form a network of neuromodulation units that is able to deliver neuromodulation therapy in a coordinated manner; characterized in that the neuromodulation units (700, 702, 703) are programmed such that the network is automatically reconfigured when one or more neuromodulation units are taken in or out of service so that: when a unit is removed from the network, the lack of communication from that unit is detected by the other units and algorithms for controlling the delivery of neural stimulation by the other units that depend upon physiological measurements obtained by the removed unit are adjusted; and when a new unit joins the network, the new unit communicates to the other units in the network information as to its stimulation and/or sensing functionality, allowing the other units to adjust their behavior as appropriate. a plurality of implantable neuromodulation units (700, 702, 703) wherein each such unit includes a programmable controller (10; 200), at least one of a neural stimulator (20; 205) and a sensor (30; 305) for measuring a physiological variable affected by neural stimulation, and a telemetry transceiver for communicating over a communication channel; wherein the neuromodulation units (700, 702, 703) are programmed to communicate bidirectionally with one another via telemetry as network nodes to form a network of neuromodulation units that is able to deliver neuromodulation therapy in a coordinated manner; characterized in that the neuromodulation units (700, 702, 703) are programmed such that the network is automatically reconfigured when one or more neuromodulation units are taken in or out of service so that: when a unit is removed from the network, the lack of communication from that unit is detected by the other units and algorithms for controlling the delivery of neural stimulation by the other units that depend upon physiological measurements obtained by the removed unit are adjusted; and when a new unit joins the network, the new unit communicates to the other units in the network information as to its stimulation and/or sensing functionality, allowing the other units to adjust their behavior as appropriate. when a unit is removed from the network, the lack of communication from that unit is detected by the other units and algorithms for controlling the delivery of neural stimulation by the other units that depend upon physiological measurements obtained by the removed unit are adjusted; and when a new unit joins the network, the new unit communicates to the other units in the network information as to its stimulation and/or sensing functionality, allowing the other units to adjust their behavior as appropriate.