  In this paper, the interplay between a class of nonlinear estimators and
strategic sensors is studied in several participatory-sensing scenarios. It is
shown that for the class of estimators, if the strategic sensors have access to
noiseless measurements of the to-be-estimated-variable, truth-telling is an
equilibrium of the game that models the interplay between the sensors and the
estimator. Furthermore, performance of the proposed estimators is examined in
the case that the strategic sensors form coalitions and in the presence of
noise.
