In this chapter, we derive models of, and controllers for, distributed sensor networks consisting of multiple cooperating nodes. Each battery-powered node has wireless communications, local processing capabilities, sensor inputs, data storage, and limited mobility. An individual node would be capable of isolated operation, but practical deployment scenarios require coordination among multiple nodes. We are particularly interested in self-organization technologies for these systems. Network self-configuration is needed for the system to adapt to a changing environment [Bulusu 01]. In this chapter we derive hierarchical structures that support user control of the distributed system.
