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Self-deployment is one of the main research issues in wireless mobile sensor networks. It determines quality of service of networks, such as coverage and connectivity. In this paper, we present a distributed self-deployment algorithm by distance and orientation control (DOC). Distance control tries to keep the distance among sensor nodes equal to the ideal distance in equilateral triangle grid deployment, while orientation control tries to reach reliable connectivity and eliminate coverage holes caused by discontinuous connectivity. Moreover, obstacle avoidance control is taken into account if there is obstacle lay on the locomotion path. Simulation results show that DOC is effective with good performances.