A scalable location service for geographic ad hoc routing
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Dynamic fine-grained localization in Ad-Hoc networks of sensors
Proceedings of the 7th annual international conference on Mobile computing and networking
Physical layer driven protocol and algorithm design for energy-efficient wireless sensor networks
Proceedings of the 7th annual international conference on Mobile computing and networking
The bits and flops of the n-hop multilateration primitive for node localization problems
WSNA '02 Proceedings of the 1st ACM international workshop on Wireless sensor networks and applications
Wireless sensor networks: a survey
Computer Networks: The International Journal of Computer and Telecommunications Networking
Robust Positioning Algorithms for Distributed Ad-Hoc Wireless Sensor Networks
ATEC '02 Proceedings of the General Track of the annual conference on USENIX Annual Technical Conference
GPS-Free Positioning in Mobile ad-hoc Networks
HICSS '01 Proceedings of the 34th Annual Hawaii International Conference on System Sciences ( HICSS-34)-Volume 9 - Volume 9
ICDCS '01 Proceedings of the The 21st International Conference on Distributed Computing Systems
Range-free localization schemes for large scale sensor networks
Proceedings of the 9th annual international conference on Mobile computing and networking
Distributed localization in wireless sensor networks: a quantitative comparison
Computer Networks: The International Journal of Computer and Telecommunications Networking - Special issue: Wireless sensor networks
Self-configuring localization systems: Design and Experimental Evaluation
ACM Transactions on Embedded Computing Systems (TECS)
Semidefinite programming for ad hoc wireless sensor network localization
Proceedings of the 3rd international symposium on Information processing in sensor networks
A Map-growing Localization Algorithm for Ad-hoc Wireless Sensor Networks
ICPADS '04 Proceedings of the Parallel and Distributed Systems, Tenth International Conference
A Partial-Range-Aware Localization Algorithm for Ad-hoc Wireless Sensor Networks
LCN '04 Proceedings of the 29th Annual IEEE International Conference on Local Computer Networks
Walking GPS: A Practical Solution for Localization in Manually Deployed Wireless Sensor Networks
LCN '04 Proceedings of the 29th Annual IEEE International Conference on Local Computer Networks
A high-accuracy, low-cost localization system for wireless sensor networks
Proceedings of the 3rd international conference on Embedded networked sensor systems
Constrained tracking on a road network
EWSN'06 Proceedings of the Third European conference on Wireless Sensor Networks
Range-Based localization in mobile sensor networks
EWSN'06 Proceedings of the Third European conference on Wireless Sensor Networks
Hierarchical localization algorithm based on inverse delaunay tessellation
EWSN'06 Proceedings of the Third European conference on Wireless Sensor Networks
A study of localization metrics: Evaluation of position errors in wireless sensor networks
Computer Networks: The International Journal of Computer and Telecommunications Networking
Householder Algorithm Applied to Localization for Wireless Sensor Networks
International Journal of Mobile Computing and Multimedia Communications
Location error estimation in wireless ad hoc networks
Ad Hoc Networks
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Many applications that use sensor data from a wireless sensor network (WSN) require corresponding node position information as well. Therefore, it is not surprising that a common figure of merit for localization algorithms is the accuracy of the position estimate produced. Similarly, the amount of communication required by a localization algorithm is often of paramount interest as well since it is common knowledge that communication expends the most energy in a WSN. However, localization algorithms seldom characterize their communication cost. Furthermore, when they do it is often merely qualitative and is typically described as ''expensive''. For two types of range-aware, anchor-free localization algorithms we found the opposite to be true. Rather than being expensive, the communication costs were quite modest. So much so that we maintain range-aware, anchor-free localization algorithms should be chosen on the basis of the accuracy required by the intended application independent of the communication cost. In this paper, we examine the effect of node degree, node distribution, range error and network size on distance error and communication cost for both incremental and concurrent versions of range-aware, anchor-free algorithms. The concurrent algorithm is twice as accurate as the incremental, but less efficient. Furthermore, node degree influences the energy cost of the algorithms the most, but neither algorithm uses more than a surprisingly small 0.8% of a 560mAh battery. This result indicates less energy efficient localization algorithms can be tolerated, especially if they provide better accuracy. Furthermore, if energy does need to be conserved, there is not much savings available within the localization algorithm and savings must be found in other areas such as the MAC protocol or routing algorithm.