This paper addresses the issue of transmission scheduling in wireless ad hoc networks. We propose a Time Division Multiple Access (TDMA) scheduling scheme based on edge coloring and probabilistic assignment, called CP-TDMA. We categorize the conflicts suffered by wireless links into two types: explicit conflicts and implicit conflicts, and utilize two different strategies to deal with them. Explicit conflicts are avoided completely by a simple distributed edge-coloring algorithm µ-M, and implicit conflicts are minimized by applying probabilistic time slot assignments to links. We evaluate CP-TDMA analytically and numerically, and find that CP-TDMA, which requires only local information exhibits a better performance than previous work.