Abstract. We propose a distributed coalition formation strategy for collaborative sensing tasks in camera sensor networks. The proposed model supports taskdependent node selection and aggregation through an announcement/bidding/selection strategy. It resolves node assignment conflicts by solving an equivalent constraint satisfaction problem. Our technique is scalable, as it lacks any central controller, and it is robust to node failures and imperfect communication. Another unique aspect of our work is that we advocate visually and behaviorally realistic virtual environments as a simulation tool in support of research on large-scale camera sensor networks. Specifically, our visual sensor network comprises uncalibrated static and active simulated video surveillance cameras deployed in a virtual train station populated by autonomously self-animating pedestrians. The readily reconfigurable virtual cameras generate synthetic video feeds that emulate those generated by real surveillance c...