System and method for forming, maintaining and dynamic reconfigurable routing in an ad-hoc network

A network comprises a plurality of network nodes. Each network node has a unique node identifier within the context of the network and stores a table of nodes. The table of nodes includes at least one table entry. The table entry includes three fields-a destination node field, a next node field and a cost field. The destination field is a unique node identifier corresponding to another node in the network. The next node is a unique node identifier corresponding to the next node in the communication path to the destination node. The cost field is the cost associated with communication with the network node. When a node is added to the network, it detects the presence of adjacent nodes. The new node obtains the table of nodes stored in each adjacent node and uses the information contained in the node tables to updates its own node table, thereby obtaining information for communicating with every other node in the network. Each of the adjacent nodes obtains information related to communicating with the new node, adjusts its own table of nodes accordingly, and sends update information to nodes adjacent to it to propagate knowledge of the new node. Changes in the network are propagated between network nodes by periodic exchange and updating of node tables. Updating can be performed at a pre-determined time and/or in response to a change in the network.