diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/server.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/server.hpp
index 24b4b99cff..b15dc9df39 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/server.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/server.hpp
@@ -12,6 +12,7 @@
 #include <uavcan/protocol/dynamic_node_id_server/distributed/event.hpp>
 #include <uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp>
 #include <uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp>
+#include <uavcan/protocol/dynamic_node_id_server/node_id_selector.hpp>
 
 namespace uavcan
 {
@@ -69,39 +70,10 @@ class Server : private IAllocationRequestHandler
         return raft_core_.traverseLogFromEndUntil(NodeIDLogPredicate(node_id));
     }
 
-    NodeID findFreeNodeID(const NodeID preferred_node_id) const
-    {
-        uint8_t candidate = preferred_node_id.isUnicast() ? preferred_node_id.get() : NodeID::Max;
-
-        // Up
-        while (candidate <= NodeID::Max)
-        {
-            if (!isNodeIDTaken(candidate))
-            {
-                return candidate;
-            }
-            candidate++;
-        }
-
-        candidate = preferred_node_id.isUnicast() ? preferred_node_id.get() : NodeID::Max;
-        candidate--;        // This has been tested already
-
-        // Down
-        while (candidate > 0)
-        {
-            if (!isNodeIDTaken(candidate))
-            {
-                return candidate;
-            }
-            candidate--;
-        }
-
-        return NodeID();
-    }
-
     void allocateNewNode(const UniqueID& unique_id, const NodeID preferred_node_id)
     {
-        const NodeID allocated_node_id = findFreeNodeID(preferred_node_id);
+        const NodeID allocated_node_id =
+            NodeIDSelector<Server>(this, &Server::isNodeIDTaken).findFreeNodeID(preferred_node_id);
         if (!allocated_node_id.isUnicast())
         {
             UAVCAN_TRACE("DynamicNodeIDServer", "Request ignored - no free node ID left");
diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_id_selector.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_id_selector.hpp
new file mode 100644
index 0000000000..2af730a67e
--- /dev/null
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_id_selector.hpp
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#ifndef UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_SERVER_NODE_ID_SELECTOR_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_SERVER_NODE_ID_SELECTOR_HPP_INCLUDED
+
+#include <uavcan/build_config.hpp>
+#include <cassert>
+
+namespace uavcan
+{
+namespace dynamic_node_id_server
+{
+/**
+ * Node ID allocation logic
+ */
+template <typename Owner>
+class NodeIDSelector
+{
+    typedef bool (Owner::*IsNodeIDTakenMethod)(const NodeID node_id) const;
+
+    const Owner* const owner_;
+    const IsNodeIDTakenMethod is_node_id_taken_;
+
+public:
+    NodeIDSelector(const Owner* owner, IsNodeIDTakenMethod is_node_id_taken)
+        : owner_(owner)
+        , is_node_id_taken_(is_node_id_taken)
+    {
+        UAVCAN_ASSERT(owner_ != NULL);
+        UAVCAN_ASSERT(is_node_id_taken_ != NULL);
+    }
+
+    /**
+     * Reutrns a default-constructed (invalid) node ID if a free one could not be found.
+     */
+    NodeID findFreeNodeID(const NodeID preferred_node_id) const
+    {
+        uint8_t candidate = preferred_node_id.isUnicast() ? preferred_node_id.get() : NodeID::Max;
+
+        // Up
+        while (candidate <= NodeID::Max)
+        {
+            if (!(owner_->*is_node_id_taken_)(candidate))
+            {
+                return candidate;
+            }
+            candidate++;
+        }
+
+        candidate = preferred_node_id.isUnicast() ? preferred_node_id.get() : NodeID::Max;
+        candidate--;        // This has been tested already
+
+        // Down
+        while (candidate > 0)
+        {
+            if (!(owner_->*is_node_id_taken_)(candidate))
+            {
+                return candidate;
+            }
+            candidate--;
+        }
+
+        return NodeID();
+    }
+};
+
+}
+}
+
+#endif // Include guard