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In many applications of wireless sensor networks, sensor nodes are required to move around to complete their job assignments, e.g., collecting data or exploring the environment. In those cases, the location of sensor nodes is an important information. In previous localization studies, it is required that certain anchor nodes be fixed in locations to provide location references. In this paper, the authors propose a novel localization algorithm, which can derive the location of other sensor nodes with high accuracy in an environment where all sensor nodes are in mobility and without requiring the existence of fixed-location anchor nodes.
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