Abstract: Self-organization of an active sensor network always requires a group of mobile nodes (robots) to move from an area to a desired area in the environment with obstacles to reconfigure the network topology according to the scheduled layout. During the self-organization, it needs to be ensured that each mobile node (robot) maintains the wireless link to the network. By optimizing the preserved connectivity of the mobile robots, a distributed motion planning algorithm based on a single-step location prediction and collective potential field is presented to deploy and reconfigure the active sensor network. The stability of controlling the mobile nodes and the preserved connectivity of the network are analyzed. Simulations are conducted for a group of more than 40 robots with and without obstacles in the environment. The results show that the proposed algorithm is effective for reconfiguration of a large scale active sensor network, as well as the networks with different sizes.