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In this contribution, we propose an efficient collaborative online filter in a wireless sensor network under communication constraints. The observed system is assumed to evolve according to a non linear state-space model. The distributed intelligent sensors collaborate to estimate the marginal probability of the hidden continuous state, within a Bayesian framework. The communication protocol relies on the activation of only few nodes. The selection of the leader node, through time, and itsdoi:10.1109/isspa.2007.4555503 dblp:conf/isspa/SnoussiR07 fatcat:yi6jhgmswjhnlielazwbrm27xu