Systems and methods for a communication system including a set of transmitters, wherein operations of the set of transmitters are synchronized with an accuracy bound by a synchronization error. A controller communicatively connected to each transmitter in the set of transmitters, wherein the controller is configured to: determine a tap delay for a communication channel between a receiver and each transmitter in the set of transmitters to produce a set of tap delays. Determine a minimal length of a cyclic prefix as a function of a sum of the synchronization error and a maximal tap delay in the set of tap delays. Finally, controls at least some transmitters in the set of transmitters to transmit a message to the receiver using a cyclic delay diversity (CDD) with the cyclic prefix having at least the minimal length.