1. INTRODUCTION
Modern large-scale distributed systems such as cyber-physical systems and the Internet of Things often consist of components (nodes) that communicate/interact over shared networks of limited bandwidth and operate with minimal delay [1]. One way to model this constraint is to assume that, at any time instant, a limited number of packets (smaller than total number of devices) can be reliably transmitted over the network to its destination at a time. If this limit is exceeded, a collision is declared and information is lost. In order to properly share the available communication resources, the nodes must decide to transmit or not their data to the destination.