Methods and systems of the present invention are directed to clustering RFID-tag readers of a multi-RFID-tag-reader network in order to obtain a set of RFID-tag readers with high probability of detecting an event, but with low probability of collisions and with an acceptable cost. The cost may be determined by any of numerous cost functions of the RFID-tag readers in the set of RFID-tag readers, and may represent a cost in power, long-term reliability, and other such metrics that may be applied to an RFID-tag network.