Evaluation of Energy Costs and Error Performance of Range-Aware, Anchor-Free Localization Algorithms for Wireless Sensor Networks
Gustav Julio Jordt
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Evaluation of Energy Costs and Error Performance of Range-Aware, Anchor-Free Localization Algorithms for Wireless Sensor Networks

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This research examines energy and error performance tradeoffs in Anchor-Free Range-Aware Wireless Sensor Network (WSN) Localization algorithms in different network environments. A concurrent and an incremental algorithm (Anchor Free Localization (AFL) and Map Growing) are examined under varying network sizes, densities, distribution methods, and range error conditions. Despite current expectations, even the most expensive configurations do not expend significant amounts of battery life (at most 0.4% of a typical node battery). This implies very little energy conservation is possible during loc...