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A calibration-free localization algorithm for sensor actuator networks is presented in this paper. The algorithm uses sequential importance sampling to estimate the location of a number of limited-capability sensors using the strength of the signals transmitted from the sensor node to GPS-enabled mobile actuator nodes that work as anchor nodes. Simulation results show that the algorithm converges to 1 meter error range in approximately 10 time steps, for very small Rice factors and 4 anchor nodes. The algorithm was verified using the Network Simulator NS-2.28.
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