Systems and methods for managing nodes in mesh networks are provided. A critical node may determine a status of a backhaul connection prior to joining a PAN. A critical path may be created and maintained that includes the critical node and any intervening nodes between the critical node and the root. A critical node may switch PANs when a backhaul connection becomes unavailable. The switch may be facilitated by a node on the critical path other than the critical node. A node may switch PANs and coordinate the switch with its child nodes.