In recent years, there has been a growing trend towards wireless sensing technologies in the field of structural health monitoring. However, the inherently limited resources of wireless sensor nodes pose significant constraints to wireless sensor networks in terms of power efficiency and autonomous operation. To this end, several embedded algorithms have been proposed, exploiting the collocation of computational power with sensing modules in an attempt to reduce the size of the data to be wirelessly communicated. This paper presents an embedded computing approach for decentralized condition assessment of civil engineering structures based on numerical models embedded into wireless sensor nodes. The proposed approach consists of two stages. First, a distributed numerical model of the "initial" structural state, comprising coupled partial models of the monitored structure, is generated on-board the wireless sensor nodes. Second, automated identification of structural changes is performed through a comparison of the initial state of the numerical model and a simulated damaged state. For validation, laboratory tests of the proposed approach are performed on a four-story frame structure.