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We present a new collision free medium access control algorithm suitable for large ad-hoc network. The algorithm is iterative and distributed, i.e., each node acquires, stores and processes only information related to its neighbors. Given a random set of nodes requesting access to the common medium during each timeslot, the algorithm attempts to allow the largest fraction of nodes to do so, subject to a Â¿no-collisionÂ¿ requirement. We use the average fraction of nodes allowed access out of the nodes requesting access, as the figure of merit of the algorithm. We find this value through simulations, and compare with the results of the centrally controlled algorithm described in by Cidon and Sidi. We show that in many scenarios, two iterations of the iterative algorithm are sufficient to produce comparable results.