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Cooperative systems will ultimately carry out risk-related tasks and liberate mankind from mundane labor. The implementation of these systems implies the use of wireless ad hoc networks and their critical component - a medium access control (MAC) layer that satisfies severe timing requirements. Infrastructure-based wireless networks successfully provide high bandwidth utilization and bounded communication delay. They divide the radio into timeslots of uniform size, ï¾¿, that are then combined into frames of uniform size, ï¾¿. Base-stations, or wireless network coordinators can schedule the frame in a way that enables each node to transmit during its own timeslot, and arbitrate between nearby nodes that wish to communicate concurrently.

Self-stabilizing TDMA Algorithms for Wireless Ad-Hoc Networks without External Reference