Algorithm 2 Intra-CRBAN transmission at the coordinator.

Input: set of {M} sensor nodes, historical packet delivery ratio PDR{t − 1,M}

Output: A TDMA scheduled for M sensor nodes

1. Estimate the number of packet delivery ratio at each sensor PDR(t − 1) = {PDRj|j ∈ M}

2. Sort PDR in descending order

3. For each sensor nodes

4.  Schedule the j-th sensor with the lowest PDR(j) at the first available timeslot

5.  Remove j of {M}

6. End for

7. Broadcast beacon signal in CtrlCh, Beacon = {schedule({M}), index of DataCh Ck, length of superframe Ti, start time of next superframe}