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In this paper, the problem of localizing and tracking mobile nodes acting in a fixed wireless sensor network (WSN) is addressed. A strategy is proposed based on an empirical map of the received signal-strength distribution that is generated by the WSN and on a stochastic model of the mobile-node behavior. This approach results in being well suited for low-density setups and critical environments. The theoretical background and the architecture of the system are presented, together with simulations to validate the design phase. Also, the system is implemented into a real-time framework, and its performance is tested in an industrial indoor environment.