Abstract: In a wireless multihop network having node devices within communication range neighboring node devices in a corresponding local neighborhood, the node devices generate visibility messages to be transmitted via connection-less broadcast. The visibility messages include at least an identifier of the corresponding node device. Visibility messages received by each of the node devices from the one or more neighboring node devices are processed to determine a measure of density of the local neighborhood. This measure of density also accounts for the heterogeneous transmit power capabilities of node devices and is used for updating of one or more operational parameter of the node device relating to utilization of the radio communications medium by that node device. A degree of utilization of the medium through the control of transmission data rate and power is adjusted based on an inverse relation to the measure of density determined from the received visibility messages.