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Over the past decade the authors have witnessed the evolution of wireless sensor networks, with advancements in hardware design, communication protocols, resource efficiency, and other aspects. Recently, there has been much focus on mobile sensor networks, and the authors have even seen the development of small-profile sensing devices that are able to control their own movement. Although it has been shown that mobility alleviates several issues relating to sensor network coverage and connectivity, many challenges remain. Among these, the need for position estimation is perhaps the most important.
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