  Wireless sensor networks benefit from communication protocols that reduce
power requirements by avoiding frame collision. Time Division Media Access
methods schedule transmission in slots to avoid collision, however these
methods often lack scalability when implemented in \emph{ad hoc} networks
subject to node failures and dynamic topology. This paper reports a distributed
algorithm for TDMA slot assignment that is self-stabilizing to transient faults
and dynamic topology change. The expected local convergence time is O(1) for
any size network satisfying a constant bound on the size of a node
neighborhood.
