and non-persistent CSMA access modes. When the transmitting node is ready to transmit data, it senses the transmission medium for idle or busy. If idle, then it transmits immediately. If busy, then it senses the transmission medium continuously until it becomes idle, then transmits with probability p. If the node does not transmit (the probability of this event is 1-p), it waits until the next available time slot. If the transmission medium is not busy, it transmits again with the same probability p. This probabilistic hold-off repeats until the frame is finally transmitted or when the medium is found to become busy again (i.e. some other node has already started transmitting). In the latter case the node repeats the whole logic cycle (which started with sensing the transmission medium for idle or busy) again. p-persistent CSMA is used in CSMA/CA systems including Wi-Fi and other packet radio systems. Note that p = 0-persistent CSMA is different from non-persistent CSMA. Both can only transmit at the start of the procedure (if the channel is idle), but their behaviour on a busy channel differs: non-persistent CSMA doesn't attempt to sense the channel and restarts its logical cycle, whilst p = 0 necessarily gets stuck in an infinite loop of waiting (since it has zero probability of transmission even if the channel goes back to being idle). O-persistent Each node is assigned a transmission order by a supervisory node. When the transmission medium goes idle, nodes wait for their time slot in accordance with their assigned transmission order. The node assigned to transmit first transmits immediately. The node assigned to transmit second waits one time slot (but by that time the first node has already started transmitting). Nodes monitor the medium for transmissions from other nodes and update their assigned order with each detected transmission (i.e. they move one position closer to the front of the queue). O-persistent CSMA is used by CobraNet, LonWorks and the controller area network. Protocol modifications When broadcasting over vehicular ad hoc networks, the original 1-persistence and p-persistence strategies often cause the broadcast storm problem. To improve performance, engineers developed three modified techniques: weighted p-persistence, slotted 1-persistence, and slotted p-persistence. Carrier-sense multiple access with collision detection CSMA/CD is used to improve CSMA performance by terminating transmission as soon as a collision is detected, thus shortening the time required before a retry can be attempted. CSMA/CD is used by