A Voice Over Internet Protocol (VoIP) telephone includes a radio circuit to communicate with a current access point (AP) and other APs of a wireless communication network and a memory to store a scan table. The scan table includes information about candidate APs of the wireless communication network. The information is obtained from probe response transmissions received by the radio circuit from the respective candidate APs after transmission of probe requests from the VoIP telephone. The VoIP telephone further includes a controller which is operable to initiate a roaming process when communication between the VoIP telephone and the current AP degrades. The controller includes several applications, including an application to select a best candidate AP from the scan table, to terminate a voice call with the current AP and to resume the voice call through the radio circuit with the best candidate AP without disrupting the voice call.