A method for establishing communication links for a plurality of mobile nodes, each mobile node comprising a transceiver, a directional antenna connected to the transceiver, and a controller connected to the transceiver, the method comprising for each mobile node:
- scheduling a respective semi-permanent time slot for each time frame to establish a communication link with a neighboring mobile node and leaving at least one available time slot in each time frame;
- scheduling the at least one available time slot to also serve the communication link with a neighboring mobile node based upon link communications demand;
- aiming the directional antenna toward each neighboring mobile node during communication therewith;
- each communication link being formed by an initiating mobile node and a receiving mobile node, the initiating mobile node transmitting a request for time slots to the receiving mobile node, the receiving mobile node transmitting a reply to the initiating mobile node upon receiving the request, the initiating mobile node transmitting a confirmation to the receiving mobile node upon receiving the reply, and the receiving mobile node transmitting the reply again if the confirmation is not received.