A wireless network can perform a topological mapping through its gateway, which sends a multicast message over the wireless network to every node of a network. Each of the nodes on the network, on receipt of the multicast message, can transmit a one-hop multicast message containing a topological ping to its neighboring nodes. A neighboring node receiving a topological ping will store information relating to the link quality between the sender and neighboring nodes. After network traffic related to the topology discovery has quieted, the neighboring nodes sends the stored information to the gateway, without any processing by the node which sent the topological ping. All nodes may also implement a randomized delay both before sending the topological ping, and/or before sending the stored information to the gateway, to minimize the opportunity for data collision of messages relating to topological discovery.