In this paper, we develop a Cooperative Mobility Modelthat captures new salient features of collaborative and mission-oriented MANETs. We propose new techniques to leverage two optimizations for cognitive radio networks that are specific to such contexts: cooperative mobility and opportunistic channel selection. We present a new formal model for MANETs consisting of cognitive radio capable nodes that are willing to be moved (at a cost). We develop an effective decentralized algorithm for mobility planning, and powerful newfiltering and fuzzy based techniques for both channel estimation and channel selection. Our experiments are compelling and demonstrate that the communications infrastructure-specifically, connectionbit error rates-can be significantly improved by leveraging our proposed techniques. In addition, we find that these cooperative/opportunistic optimization spaces do not trade-off significantly with one another, and thus can be used simultaneously to build superior hybrid schemes. Our results have significant applications in high-performance mission-oriented MANETs, such as battlefield communications and domestic response rescue missions.