Patent ID: 7379840

Claim:
A method for moving a target mobile node to arrange a plurality of mobile nodes, comprising: determining a first direction at a target mobile node of a plurality of mobile nodes; establishing a first relative position for each of one or more neighboring mobile nodes of the target mobile node, the plurality of mobile nodes comprising the neighboring mobile nodes; moving the target mobile node according to a first alignment procedure applied to the first relative positions to align the plurality of mobile nodes in the first direction, the first alignment procedure comprising moving the target mobile node to align the plurality of mobile nodes with respect to a first line set comprising a plurality of first lines parallel to the first direction; determining a second direction substantially orthogonal to the first direction; establishing a second relative position for each of the one or more neighboring mobile nodes; and moving the target mobile node according to a second alignment procedure applied to the second relative positions to align the plurality of mobile nodes in the second direction.