A method of self-organizing sensor nodes in a wireless sensor network (WSN); a method of localizing mobile nodes in a WSN; and a method of self-calibrating a WSN are disclosed. The method of self-organizing sensor nodes in a WSN includes configuring sensor nodes to in turn broadcast consecutive messages at a plurality of pre-defined and incrementally increasing power levels; detecting receipt of the broadcasted messages at each of the sensor nodes and notifying a master node as to the identity of each sensor node receiving the broadcasted message and the power level at which it was received to define a detected neighborhood for each sensor node; determining relative locations of sensor nodes with the detected neighborhoods; and mapping relative locations of the sensor nodes by the master node based on results of the neighborhood detection and known locations of two anchor nodes.