“…The performance metrics as probability density function, state estimation error, energy consumption, goodput, duty cycle, sleep scheduling, number of alive nodes, throughput and delay are analyzed for the proposed method and are validated with other similar state-of-the-art techniques which inhibits the approaches like clustering, duty cycle scheduling, and cross-layer optimization i.e., LEACH [16], DEEC [10], SEP [11], Greedy routing [15], CL-CFMPR [3], FMRP [12], DASF [20], CDSWS [13], DDS [21], GCKN [14], X-MAC [6], PB-MAC [7], and RMS [22]. The probability density function for the RCKF method is shown in Fig.…”