Detection of network devices (e.g., stealth devices) and mapping network topology are performed via network introspection by collaborating endpoints/nodes. The method includes receiving (e.g., by a node on a network) an assignment to be a supernode that will manage multiple agents of a subnetwork within an overall network. This assigned supernode instructs two or more of the agents to perform a set of network traffic fingerprinting tests of the subnetwork by passing information across the subnetwork to each other. The supernode receives results of the tests from the clients and detects one or more intermediate devices located between the clients based on an effect of the intermediate devices on the information passed between the clients. The supernode can further map the topology of the subnetwork (including the detected devices) which can be used in mapping the overall network topology.