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Ubiquitous tracking setups, covering large tracking areas with many heterogeneous sensors of varying accuracy, require dedicated middleware to facilitate development of stationary and mobile applications by providing a simple interface and encapsulating the details of sensing, calibration and sensor fusion. In this paper we present a centrally coordinated peer-to-peer architecture for ubiquitous tracking, where a server computes optimal data flow configurations for sensor and application clients, which are directly exchanging tracking data with low latency using a light-weight data flow framework. The server's decisions are inferred from an actively maintained central spatial relationship graph (SRG) using spatial relationship patterns. The system is compared to a previous Ubitrack implementation using the highly distributed DWARF middleware. It exhibits significantly better performance in a reference scenario.