“…In addition, as it uses a pre-planned superframe structure and randomly selective channel assignment mechanism, it has no adaptability to various network conditions. To overcome these problems, PTOCA [24], which is an enhancement of [22] provides the powercontrolled topology optimisation and channel assignment mechanisms, with high network throughput as a primary design criterion. However, in time-critical industrial applications such as plant automation and control systems, which are the target scenarios of our work, Hybrid MAC [22] and PTOCA [24] are not suitable because of their unpredictability for end-to-sink latency, as they commonly use the transmission channel assignment mechanisms without considering the routing path of data.…”