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Localization is crucial for wireless ad hoc and sensor networks. As the distance-measurement ranges are often less than the communication ranges for many ranging systems, most communication-dense wireless networks are localization-sparse. Consequently, existing algorithms fail to provide accurate localization supports. In order to address this issue, by introducing the concept of component, the authors group nodes into components so that nodes are able to better share ranging and anchor knowledge. Operating on the granularity of components, the design, CALL, relaxes two essential restrictions in localization: the node ordering and the anchor distribution.
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