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Actor-actor communication is an important part of the functioning of wireless sensor-actor networks and enables the actor nodes to take coordinated action on a given event. Owing to various reasons such as actor mobility and low actor density, the actor network tends to get partitioned. The authors propose to use the underlying sensor nodes, which are more densely deployed, to heal these partitions. In order to maximise the utilisation of the limited energy available with the sensor nodes, a new routing protocol for actor-actor communication using directional antennas on the actor nodes is proposed. The authors contribution is threefold. First, using simulations they show that the problem of partitioning in the actor networks is significant and propose an architecture with directional antennas on actor nodes and sensor bridges to heal these partitions. Second, they identify the routing problem for this architecture based on a theoretical framework and propose centralised as well as distributed solutions to it. Third, they develop a routing protocol based on the distributed solution and show, using network simulations, that the proposed protocol not only heals the network partitions successfully, but also achieves high throughput and fairness across different flows, in addition to maximising the network lifetime.