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This paper describes a data aggregation and consensus algorithm for object location and tracking applications deployed on wireless sensor networks. This consensus algorithm permits ad-hoc, in-network, group formation in response to a detected event. By reaching a consensus in the network, only a single message indicating the detected event needs to be forwarded to the tracking application at a base station, leading to significant savings in communication costs and prolonging of the life of the network. Our ad-hoc approach offers superior detecting power to other approaches, which statically partition the network into detection regions. The use of a quorum mechanism to achieve consensus leads to higher availability under failure conditions. Moreover, the algorithm exploits the broadcast communication and synchrony properties of wireless sensor networks. Our experimental results show that the algorithm exhibits low overhead despite faults and converges quickly to a single consensus even if multiple nodes initiate the consensus protocol.