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We propose a cooperative signal-forwarding scheme for wireless sensor and mesh networks using semidefinite constraints. We consider a multiple source-destination scenario where a set of relays assists forwarding signals from sources to destinations. This paper assumes cooperation between relays so that the signals received from source nodes are passed between the relays. A semidefinite programming framework allows us to impose various quality-of-service (QoS) constraints for each source-destination pair. The proposed scheme outperforms a cooperative relaying strategy that is based on a minimum mean square error (MMSE). The design also considers quantization of signals that are passed between cooperating relays. The proposed scheme, even in the presence of signal-quantization noise, outperforms a noncooperative relaying scheme.