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Wireless Sensor-Actuator Networks (WSANs) refer to a group of sensors and actuators linked by a wireless medium to perform distributed sensing and acting tasks. In order to provide effective sensing and acting, coordination mechanisms are required among sensors and actuators. The authors have presented the architectural design of a self organizing coordination framework. The framework organizes the two-tiered heterogeneous network into clusters. The coordination framework is a three-level coordination protocol and the three levels belong to the three types of coordination required for WSANs: sensor-sensor coordination, sensor-actuator coordination and actuator-actuator coordination.
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