AQPM is an autonomous and scalable in-network query processing model for urban sensor networks. It groups sensors with similar readings into clusters to improve scalability. Sensors within each cluster store their readings locally. Select sensors within each cluster are designated as repositories, which store readings for an entire cluster. This allows queries to be processed efficiently by only contacting the repository sensors instead of all sensors. Experimental results using an NS2 simulator show that AQPM is more effective than existing approaches for managing and querying data from large-scale sensor networks.