A method for synchronizing communications between first and second piconets is provided. It is determined whether superframes corresponding to the first and second piconets are synchronized according to respective beacon period start times from the detected beacons. When the superframes are not synchronized, a type of overlap is determined. The type of overlap includes 1) an overlap between beacon periods, 2) an overlap between reservation periods and 3) an overlap between beacon periods and reservation periods of the superframes. The first and second piconets are merged into a single piconet according to rules based on the determined type of overlap.