In one aspect, a method to schedule network communications includes transmitting a node identification associated with a first node joining a network over a first portion of control timeslots based on a first probability, detecting nodes in the network using a second portion of the control timeslots and receiving acknowledgments from at least one of the nodes in the network. The method also includes that if a ratio of a number of acknowledgments received to a number of the nodes in the network detected is greater than a predetermined percentage: transmitting control data over the first portion of the control timeslots based on a second probability associated with a number of the nodes detected and transmitting data over the second portion of the control timeslots based on a network schedule.