A method for synchronizing the direct mode TDMA transmission of a set of radios by following a selected radio as the leader includes: receiving, by a radio, a communication from an other radio; identifying, by the radio, a leader according to a leadership election rule using the received communication from the other radio and a current leader information; setting, by the radio, the identified leader as its leader; and synchronizing, by the radio, a time slot boundary with a time slot boundary defined by the leader.