A computing node to implement a management entity in a Collective Perception, CP,-based network, the node comprising: interface circuitry; and processing circuitry coupled to the interface circuitry, the processing circuitry configured to: encode an inquiry message for transmission via the interface circuitry to a plurality of sensing nodes in the CP-based network, the inquiry message requesting information on Collective Perception Service, CPS, capabilities; decode response messages received via the interface circuitry from a set of sensing nodes of the plurality of sensing nodes in response to the inquiry message, the response messages including the information on the CPS capabilities of the set of sensing nodes; select a sensing node from the set of sensing nodes as a sensing coordinator in the CP-based network, based on the information on the CPS capabilities; encode a notification message for a broadcast transmission in the CP-based network via the interface circuitry, the notification message indicating selecting of the sensing node as the sensing coordinator; and decode sensed data received in a broadcast message from the sensing coordinator, the sensed data including data associated with one or more non-vehicle-to-everything, non-V2X, capable sensing nodes of the plurality of sensing nodes. interface circuitry; and processing circuitry coupled to the interface circuitry, the processing circuitry configured to: encode an inquiry message for transmission via the interface circuitry to a plurality of sensing nodes in the CP-based network, the inquiry message requesting information on Collective Perception Service, CPS, capabilities; decode response messages received via the interface circuitry from a set of sensing nodes of the plurality of sensing nodes in response to the inquiry message, the response messages including the information on the CPS capabilities of the set of sensing nodes; select a sensing node from the set of sensing nodes as a sensing coordinator in the CP-based network, based on the information on the CPS capabilities; encode a notification message for a broadcast transmission in the CP-based network via the interface circuitry, the notification message indicating selecting of the sensing node as the sensing coordinator; and decode sensed data received in a broadcast message from the sensing coordinator, the sensed data including data associated with one or more non-vehicle-to-everything, non-V2X, capable sensing nodes of the plurality of sensing nodes. encode an inquiry message for transmission via the interface circuitry to a plurality of sensing nodes in the CP-based network, the inquiry message requesting information on Collective Perception Service, CPS, capabilities; decode response messages received via the interface circuitry from a set of sensing nodes of the plurality of sensing nodes in response to the inquiry message, the response messages including the information on the CPS capabilities of the set of sensing nodes; select a sensing node from the set of sensing nodes as a sensing coordinator in the CP-based network, based on the information on the CPS capabilities; encode a notification message for a broadcast transmission in the CP-based network via the interface circuitry, the notification message indicating selecting of the sensing node as the sensing coordinator; and decode sensed data received in a broadcast message from the sensing coordinator, the sensed data including data associated with one or more non-vehicle-to-everything, non-V2X, capable sensing nodes of the plurality of sensing nodes.