A method for establishing an unmanned aerial vehicle (UAV) network among a plurality of UAVs that is programmed to communicate packet data, wherein the plurality of UAVs comprises a first UAV and creating a first wireless connection between the first UAV of the plurality of UAVs and a second UAV. The method includes receiving a first signal indicating that the second UAV has been added to the plurality of UAVs and transmitting a second signal to the second UAV that causes the second UAV to generate a wireless coverage area that extends a wireless range of the UAV network. The method includes calculating a plurality of link cost values for one or more wireless connections to or from each particular UAV to one or more other UAVs in the plurality of UAVs; and determining whether to realign the plurality of UAVs based on the plurality of link cost values.