In one embodiment, a first actuator in a network of sensors and actuators executes a walker agent configured to adjust an actuation setting of the first actuator. The actuation setting controls an area of coverage of the first actuator when actuated. The executing agent on the first actuator receives one or more sensor measurements from one or more of the sensors that are in communication range of the first actuator. The executing agent also controls, based on the received one or more sensor measurements, the area of coverage of the first actuator by adjusting its actuation setting, in an attempt to optimize coverage of the sensors in the network by the areas of coverage of the actuators. The first actuator unloads the executing walker agent after adjusting the actuation setting of the first actuator and propagates the agent to another one of the actuators in the network for execution.