@inproceedings{yackovich2011making,
  title={Making wsn tdma practical: Stealing slots up and down the tree},
  author={Yackovich, John and Mosse, Daniel and Rowe, Anthony and Rajkumar, Raj},
  booktitle={2011 IEEE 17th International Conference on Embedded and Real-Time Computing Systems and Applications},
  volume={1},
  pages={41--50},
  year={2011},
  organization={IEEE}
}