Abstract: Domains are formed in a mobile ad hoc network by exchanging topology update messages among neighboring nodes, each message including the node coverage of the originating node. The node having an optimum coverage of its neighbors becomes a domain lead (DL) node, and nodes within hearing distance or range of the DL node form a network domain. Each domain node, including the DL, selects a set of bridge nodes (BNs) that can link the domain node to nodes in corresponding neighboring domains. All domain lead nodes in the network exchange messages to inform one another of the nodes contained in their respective domains. A node in one domain seeking a route for a message destined to a node in another domain, may send a route discovery (RDisc) message to the DL node of the inquiring node's domain. A responsive route resolution (RRes) message is returned to the inquiring node.