This work is about Wireless Sensor and Actor Networks (WSANs) consist of a large number of heterogeneous nodes known as sensors and actors. Sensor nodes have lower cost, lower power, multifunctional devices that can communicate untethered in limited distances, while actor nodes are resource rich, having higher processing and transmission capabilities, equipped with additional devices and longer battery life, they collect and process sensed data and perform the appropriate actions on the environment. In WSANs, the distributed sensing of a physical phenomenon is possible with the collaborative...