I. Introduction
A Wireless Sensor Network (WSN) is a set of inexpensive and autonomous sensor nodes equipped with wireless transmission interfaces. Usually, these sensors are deployed in hundreds or thousands to cover a given territory and take measurements of their environment. A wireless sensor and actuator network (WSAN) is a WSN with several actuators that can act on their environment. Compared to sensors, actuators are expensive and have more resources. Indeed, they have more energy capacity and transmission range [1].