The growing complexity of the Internet of Things (IoT) solutions along with highly increased application needs call for more complex and robust networking solutions. Especially the importance of autonomic, self-configuration capabilities becomes particularly significant. The IPv6-based mobile ad hoc networks are envisioned to be a good candidate technology for the IoT networks. However, they lack efficient address auto-configuration mechanisms, which could extend the IPv6 to cover the requirements of such a demanding networking environment. To address this challenge, we have proposed the Neighbor Discovery ++ (ND++) solution for the enhanced stateless address auto-configuration. The ND++ incorporates a well-performing flooding control mechanism to the basic IPv6 ND design, which results in a very low protocol overhead in the order of few messages per node. The presented simulation-based evaluation, performed under diversified mobile scenarios, confirms the scalability and robustness of this approach with regard to the key identified metrics-reliability, overhead, and latency.