decision, the node will not participate to this phase, and, on the other hand,
if the node failure occurs after the decision, the sensing task of the network
will be temporarily affected: only during the period of sensing until a new
-period starts. \textcolor{green}{The duration of the period and the duration of the rounds are predefined parameters. Round duration should be long enough to hide the system control overhead and short enough to minimize the negative effects in case of node failure.}
+period starts. \textcolor{green}{The duration of the rounds are predefined parameters. Round duration should be long enough to hide the system control overhead and short enough to minimize the negative effects in case of node failure.}
%%RC so if there are at least one failure per period, the coverage is bad...
%%MS if we want to be reliable against many node failures we need to have an
