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Wireless sensor and actuator networks (WSAN) are increasingly popular due to their abilities to detect and react to interesting events in the physical world. In this paper, a new indoor WSAN system in the context of pursuit evasion games (PEGs) is designed and implemented. Our goal is to take advantage of the WSAN capabilities to perform target tracking and capture. We design the system control model, and present the detailed implementation of the WSAN, in particular the distributed evader tracking, pursuer control components and the system/user interfaces. We also present algorithms used to achieve low cost, low energy consumption, and robustness of performance in the WSAN. Experiments demonstrate that the pursuer captures the evader successfully in all the runs. Our work provides practical solutions for designing and implementing a working WSAN for PEG tasks.