A communication system includes devices configured to communicate with each other via wireless communication by exchanging information in a sequence of time slots in frames. These time slots may be synchronized across the devices using distributed mutual synchronization in which each device exchanges time stamps in the frames with other devices to stabilize clock signals in the devices about a common frequency. Moreover, a time stamp in a given time slot may be generated by a transmitting device, which is transmitting in the given time slot, based on a clock signal in the transmitting device.