1. A method in a mobile router configured for establishing communications within an ad hoc network, the method including: establishing concurrent attachments by the mobile router to respective attachment routers based on having received respective advertisement messages specifying respective parent depths relative to a single clusterhead of the ad hoc network; selecting by the mobile router an advertised depth relative to the single clusterhead based on adding a prescribed increment to a maximum one of the parent depths, and advertising reachability by the mobile router to reach the single clusterhead based on the mobile router outputting a router advertisement message specifying the advertised depth relative to the single clusterhead, enabling the mobile router to position itself within a directed acyclic graph directed toward the single clusterhead based on the mobile router providing the directed acyclic graph with concurrent paths toward the single clusterhead using the respective concurrent attachments.