A system and a method. The system may include a node of a network of nodes, wherein the network is configured as a modified time division multiple access (TDMA) network. The node may include a processor and a transceiver communicatively coupled to the processor. The processor may be configured to: collect data received from each other node of the network during a data collection phase of a given modified TDMA cycle, the collected data including information of connectivity between pairs of nodes of the network; and output the collected data for transmission to each other node of the network during a data distribution phase of the given modified TDMA cycle.