針對TDMA無線多跳網中的時隙分配問題，提出了一種新的傳輸調度算法，稱為“碰撞避免正確穩健調度”(CA-PRS)。CA-PRS算法與以往PRS算法的區別是可以根據網絡的拓撲變化，自適應選擇分組發送時隙，實現了分組傳輸中的碰撞避免。該算法實現簡單，協議開銷小，不需要對節點度數進行約束。仿真結果表明與simple-PRS算法相比，該算法提高了無線資源的利用率。

Slot allocation is an important issue for Time Division Multiple Access (TDMA) wireless multihop networks. A novel transmission scheduling algorithm, referred as Collision Avoidance-Proper Robust Schedule (CA-PRS) algorithm is presented. The distinguished difference from the traditional Proper Robust Schedule (PRS) is that CA-PRS algorithm can adjust the slot assignments in response to topology changes, to avoid transmission contention. The proposed algorithm has some properties, such as low protocol overhead, easy to implement, and without the requirement of the nodal degree. Simulation results reveal that CA-PRS algorithm has the advantage over simple-PRS and therefore has much higher utilization of wireless resources.