Its not covered in the 802.11 spec, so it is a vendor specific feature.
Cisco APs send additional information in the beacons that allows Cisco clients to load-balance themselves to the "best" AP.
It a pretty complex algorithm, with heuristics to prevent "flapping", but client evaluates the following information from the AP before deciding which AP to use;
-- Signal strength
-- # client associations
-- AP transmitter load
-- # of repeater hops to the backbone
If you have a mix of Cisco clients and non-Cisco clients, the Cisco ones will load-balance themselves, and will help to create a generally balanced network.