In this paper, we propose a node positioning strategy for UAV networks. We propose a wireless sensor and actor network structure according to different capabilities of the nodes in the network. The positioning algorithm utilizes the Valence Shell Electron Pair Repulsion (VSEPR) theory of chemistry, which is based on the correlation between molecular geometry and the number of atoms in a molecule. By using the rules of VSEPR theory, the actor nodes in the proposed approach use a lightweight and distributed algorithm to form a self organizing network around a central UAV, which has the role of the sink. The limitations of the basic VSEPR theory are eliminated by extending the approach for multiple central data collectors. The simulation results demonstrate that the proposed system provides high connectivity and coverage for the aerial sensor and actor network.