Abstract: The communication method and system include wirelessly transmitting a data packet from a first node to a plurality of second nodes to define a wireless multicast transmission. Each second node determines whether the data packet was received with errors and if so transmits a negative acknowledgement (NAK) to the first node in a common allocated NAK time slot for the second nodes. The first node retransmits the data packet to the second nodes based upon receiving the NAK from any second node. The method and system may include measuring propagation delay between the first node and each of the plurality of second nodes, or measuring a maximum propagation delay between the first node and the plurality of second nodes, to determine the common allocated NAK time slot.