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In this paper, we present a spatiotemporal communication protocol for sensor networks, called SPEED. SPEED is specifically tailored to be a localized algorithm with minimal control overhead. End-to-end soft real-time communication is achieved by maintaining a desired delivery speed across the sensor network through a novel combination of feedback control and nondeterministic geographic forwarding. SPEED is a highly efficient and scalable protocol for sensor networks where the resources of each node are scarce. Theoretical analysis, simulation experiments, and a real implementation on Berkeley motes are provided to validate the claims.