Abstract: A self-organizing mesh network system is disclosed, comprising: at least one master node generating a timing reference signal; a plurality of regular nodes deriving time synchronization from the timing reference signal; and a wireless medium for communicating location and timestamp information among the plurality of regular nodes, The plurality of regular nodes may be configured to each use communicated location and timestamp information of nearby nodes to independently generate a location map of the nearby nodes. The plurality of regular nodes may be configured to accept an additional regular node. The plurality of regular nodes may be configured to allow a node of the plurality of regular nodes to exit the plurality of regular nodes. The plurality of regular nodes may each use communicated location and timestamp information of the plurality of regular nodes to independently generate a location map of each of the plurality of regular nodes.