Energy consumption is the most important factor that determines sensor node lifetime. The optimization of wireless sensor network lifetime targets not only the reduction of energy consumption of a single sensor node but also the extension of the entire network lifetime. We propose a simple and adaptive energy-conserving topology management scheme, called SAND (Self-Organizing Active Node Density). SAND is fully decentralized and relies on a distributed probing approach and on the redundancy resolution of sensors for energy optimizations, while preserving the data forwarding and sensing capabilities of the network. We present the SAND's algorithm, its analysis of convergence, and simulation results. Simulation results show that, though slightly increasing path lengths from sensor to sink nodes, the proposed scheme improves significantly the network lifetime for different neighborhood densities degrees, while preserving both sensing and routing fidelity.