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The existing query processing techniques for sensor networks rely on a network infrastructure for query propagation and data collection. However, such an infrastructure is very susceptible to network topology transients that widely exist in sensor networks. In this paper, we propose an infrastructure-free window query processing technique for sensor networks, called itinerary-based window query execution (IWQE), in which query propagation and data collection are combined into one single stage and executed along a well-designed itinerary inside a query window. We study the parameters for setting up an itinerary (e.g., width and route) and incorporate into IWQE three data collection schemes based on different performance trade-offs. Finally we demonstrate, by extensive simulations, the superior energy-time efficiency, robustness, and accuracy of IWQE over the current state-of-the-art techniques in supporting window queries under various network conditions.