A method of determining coordinates for nodes in a network. In response to a node being selected, the node broadcasts a request to other nodes for respective coordinate information of the other nodes. Based on the response to the request, the node takes one of the following steps. The node establishes itself as an origin of the coordinate system if no nodes respond to the request with coordinates. The node establishes a first axis of the coordinate system if one node responds to the request with coordinates. The node establishes a second axis of the coordinate system if two nodes respond to the request with coordinates. And, the node determines coordinates for the node based on distance measurements to selected nodes having established coordinates if three nodes respond to the request with coordinates.