Abstract: Systems and methods enabling nodes of a free-space optical communication system to maintain pointing alignment of their transmitted optical beams. A first node scans its optical antenna through a path centered on a target direction. The second node captures signal strength measurements during the scan, and sends those measurements to the first node. The first node separately measures signal strength of the optical signal being received from the second node. The two sources of information (locally measured and remotely measured) are used to compute angular errors. The first node uses the angular errors to adjust the target direction of its optical antenna. The second node may employ the same method (with roles reversed) to adjust its target direction. By cycling back and forth between to the two nodes, the target directions of the two nodes maintain alignment in spite of movements of the structures on which they are mounted.