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We consider an ad hoc wireless network consisting of d source-destination pairs communicating, in a pairwise manner, via R relaying nodes. The relay nodes wish to cooperate, through a decentralized beamforming algorithm, in order to establish all the communication links from each source to its respective destination. Our communication strategy consists of two steps. In the first step, all sources transmit their signals simultaneously. As a result, each relay receives a noisy faded mixture of all source signals. In the second step, each relay transmits an amplitude- and phase-adjusted version of its received signal. That is each relay multiply its received signal by a complex coefficient and retransmits the so-obtained signal. Our goal is to obtain these complex coefficients (beamforming weights) through minimization of the total relay transmit power while the signal-to-interference-plus-noise ratio (SINR) at the destinations are guaranteed to be above certain predefined thresholds. Although such a power minimization problem is not convex, we use semidefinite relaxation to turn this problem into a semidefinite programming (SDP) problem. Therefore, we can efficiently solve the SDP problem using interior point methods. Our numerical examples reveal that for high network data rates, our space division multiplexing scheme requires significantly less total relay transmit power compared to other orthogonal multiplexing schemes, such as time-division multiple access schemes.