Methods and systems for discovery of a set of nodes (20, 30) in a network (165). The method comprises selecting (S11) a node (20) amongst nodes in a group of nodes to be processed; and instructing (S12) to implement a discovery procedure for the selected node. The procedure comprises broadcasting (S22) a neighbor discovery request from a node (20) currently selected on a shared transmission medium (1) of the network; and receiving (S23) at the node (20) currently selected replies sent (S34) by neighbor nodes on the shared transmission medium and adding (S13) the neighbor nodes to the group of nodes to be processed; and repeating (S14) the steps of selecting and instructing for other nodes (30) in the group of nodes to be processed, until all nodes of the set are discovered.