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In this paper, we discuss the issues and challenges involved in collaborative sensing and actuation algorithms for environment control in wireless sensor and actuator networks. The collaborative processing of sensor and actuator nodes brings significant advantages over WSNs, including improved accuracy and timely actions upon the sensed phenomena. Our approach focus on tailor sensor nodes readings and adjust actuator nodes actions that will incur the minimum energy cost to the system subject to the constraints that users' preferences regarding the state of the system are approximately satisfied. First, we formulate the mathematical models of WSANs system. Then, a mechanism is proposed to optimally assign tasks to actuator nodes and control their actions in a coordinated way to accomplish the tasks based on the characteristics of the events. Finally, we develop a distributed control scheme which enables actuator nodes to make control decisions locally. Simulations demonstrate the effectiveness of our proposed methods.