Methods, apparatus and systems for wireless communication nodes to discover each other are disclosed. In one embodiment, a method performed by a first wireless communication node is disclosed. The method comprises: transmitting, to each of a plurality of second wireless communication nodes, respective configuration information that is utilized by the second wireless communication node to transmit a discovery signal in order to be discovered by at least one other second wireless communication node. At least two of the plurality of second wireless communication nodes transmit their discovery signals at different time domain positions based on their respective configuration information.