Algorithm 2. Conflict free TDMA frame slot assignment GCA (implemented at each SH node).

Input: HD = 2 (circular hop distance between two sectors), m, n (total number of tracks (or rows) and sectors (or columns) in the grid, respectively) Output: Conflict-free time-slot (Ci) with frame length L = 4 × epoch (length of the slot assigned to a sector) 1:  for each j from 1 to m do 2:    for each i from (j − 1) × n to (j × n − 1) do 3:      if i < n × j 4:       then SHi ← C0 5:      end if 6:      if i +1 < n × j 7:       then SHi+1 ← C1 8:      end if 9:      if i + n < m × n 10:       then SHi+n ← C2 11:      end if 12:      if i + n + 1 < m × n 13:       then SHi+n+1 ← C3 14:      end if 15:      i = i + HD 16:    end for 17:    j = j + HD 16:  end for