A method for locating nodes in a multi-hop sensor network forms a rigid body (RB1, RB2, RB3) and, from the nodes, utilizes the rigid body to decide if a node is locatable. The method obtains a reduced order model (ROM) of the network by categorizing all of the nodes by location status, grouping them based upon the categorizations, and defining and identifying a rigid body from a group. The method further simplifies determinability of node location by forming the rigid body from the nodes based upon the categorized location status. To locate the nodes, the nodes are separated from one another into subsets dependent upon characteristics (100). Then, groups are formed from one subset (200) and the rigid body is formed from a group (300). The ROM is formed from the rigid body (400) and a location capability of the rigid body is evaluated based upon the ROM (500).