“…To copy otherwise, to republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. use in various civilian and military applications, including target tracking and surveillance for robot navigation [11,16] source localization [13] and radar applications [19], data gathering for weather forecasting and environmental applications [5,7,12], and medical monitoring and imaging [2,3,14]. In general, the networks envisioned for many of these applications involve large numbers of possibly randomly distributed inexpensive sensor nodes, with limited sensing, processing, and communication power on board.…”