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Netw."],"published-print":{"date-parts":[[2013,3]]},"abstract":"<jats:p>GPS is a commonly used and convenient technology for determining absolute position in outdoor environments, but its high power consumption leads to rapid battery depletion in mobile devices. An obvious solution is to duty cycle the GPS module, which prolongs the device lifetime at the cost of increased position uncertainty while the GPS is off. This article addresses the trade-off between energy consumption and localization performance in a mobile sensor network application. The focus is on augmenting GPS location with more energy-efficient location sensors to bound position estimate uncertainty while GPS is off. Empirical GPS and radio contact data from a large-scale animal tracking deployment is used to model node mobility, radio performance, and GPS. Because GPS takes a considerable, and variable, time after powering up before it delivers a good position measurement, we model the GPS behavior through empirical measurements of two GPS modules. These models are then used to explore duty cycling strategies for maintaining position uncertainty within specified bounds. We then explore the benefits of using short-range radio contact logging alongside GPS as an energy-inexpensive means of lowering uncertainty while the GPS is off, and we propose strategies that use RSSI ranging and GPS back-offs to further reduce energy consumption. Results show that our combined strategies can cut node energy consumption by one third while still meeting application-specific positioning criteria.<\/jats:p>","DOI":"10.1145\/2422966.2422980","type":"journal-article","created":{"date-parts":[[2013,4,1]],"date-time":"2013-04-01T19:39:32Z","timestamp":1364845172000},"page":"1-33","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":22,"title":["Energy-efficient localization"],"prefix":"10.1145","volume":"9","author":[{"given":"Raja","family":"Jurdak","sequence":"first","affiliation":[{"name":"CSIRO ICT Centre, Brisbane Australia"}]},{"given":"Peter","family":"Corke","sequence":"additional","affiliation":[{"name":"Queensland University of Technology, Australia"}]},{"given":"Alban","family":"Cotillon","sequence":"additional","affiliation":[{"name":"INSA Lyon"}]},{"given":"Dhinesh","family":"Dharman","sequence":"additional","affiliation":[{"name":"Ohio State University"}]},{"given":"Chris","family":"Crossman","sequence":"additional","affiliation":[{"name":"CSIRO ICT Centre, Brisbane Australia"}]},{"given":"Guillaume","family":"Salagnac","sequence":"additional","affiliation":[{"name":"INSA Lyon"}]}],"member":"320","published-online":{"date-parts":[[2013,4]]},"reference":[{"volume-title":"Proceedings of the International Conference on Robotics and Automation. 4429--4436","author":"Butler Z.","key":"e_1_2_1_1_1","unstructured":"Butler , Z. , Corke , P. , Peterson , R. , and Rus , D . 2004. Virtual fences for controlling cows . In Proceedings of the International Conference on Robotics and Automation. 4429--4436 . Butler, Z., Corke, P., Peterson, R., and Rus, D. 2004. Virtual fences for controlling cows. In Proceedings of the International Conference on Robotics and Automation. 4429--4436."},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/11748625_4"},{"volume-title":"Proceedings of the Annual Joint Conference of the IEEE Computer and Communications Societies (INFOCOM). 2716--2720","author":"Constandache I.","key":"e_1_2_1_3_1","unstructured":"Constandache , I. , Gaonkar , S. , Sayler , M. , Choudhury , R. R. , and Cox , L . 2009. Enloc: Energy-Efficient localization for mobile phones . In Proceedings of the Annual Joint Conference of the IEEE Computer and Communications Societies (INFOCOM). 2716--2720 . Constandache, I., Gaonkar, S., Sayler, M., Choudhury, R. R., and Cox, L. 2009. Enloc: Energy-Efficient localization for mobile phones. In Proceedings of the Annual Joint Conference of the IEEE Computer and Communications Societies (INFOCOM). 2716--2720."},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ecolmodel.2009.04.047"},{"key":"e_1_2_1_5_1","volume-title":"Eds","author":"Ilyas M.","year":"2003","unstructured":"Ilyas , M. and Dorf , R. C. , Eds . 2003 . The Handbook of Ad Hoc Wireless Networks. CRC Press , Boca Raton, FL. Ilyas, M. and Dorf, R. C., Eds. 2003. The Handbook of Ad Hoc Wireless Networks. CRC Press, Boca Raton, FL."},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1145\/1869983.1869990"},{"volume-title":"Adaptive radio modes in sensor networks: How deep to sleep&quest","author":"Jurdak R.","key":"e_1_2_1_7_1","unstructured":"Jurdak , R. , Ruzzelli , A. G. and O'Hare , G. 2008. Adaptive radio modes in sensor networks: How deep to sleep&quest ; In Proceedings of the IEEE International Conference on Sensor and Ad Hoc Communications and Networks . 386--394. Jurdak, R., Ruzzelli, A. G. and O'Hare, G. 2008. Adaptive radio modes in sensor networks: How deep to sleep&quest; In Proceedings of the IEEE International Conference on Sensor and Ad Hoc Communications and Networks. 386--394."},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1145\/1555816.1555839"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/1247660.1247678"},{"volume-title":"Proceedings of the Annual Joint Conference of the IEEE Computer and Communications Societies.","author":"Lin G.","key":"e_1_2_1_10_1","unstructured":"Lin , G. , Noubir , G. , and Rajaraman , R . 2004. Mobility models for ad hoc network simulation . In Proceedings of the Annual Joint Conference of the IEEE Computer and Communications Societies. Lin, G., Noubir, G., and Rajaraman, R. 2004. Mobility models for ad hoc network simulation. In Proceedings of the Annual Joint Conference of the IEEE Computer and Communications Societies."},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/1814433.1814462"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/1132905.1132933"},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/1814433.1814463"},{"key":"e_1_2_1_14_1","first-page":"8","volume-title":"Proceedings of the Integrated Communications, Navigation and Surveillance Conference (ICNS'11)","author":"Patil B.","unstructured":"Patil , B. , Patil , R. , and Pittet , A . 2011. Energy saving techniques for gps-based tracking applications . In Proceedings of the Integrated Communications, Navigation and Surveillance Conference (ICNS'11) . J8-1--J 8 - 10 . Patil, B., Patil, R., and Pittet, A. 2011. Energy saving techniques for gps-based tracking applications. In Proceedings of the Integrated Communications, Navigation and Surveillance Conference (ICNS'11). J8-1--J8-10."},{"volume-title":"Proceedings of the International Conference on Information Processing in Sensor Networks (IPSN).","author":"Pattern S.","key":"e_1_2_1_15_1","unstructured":"Pattern , S. , Poduri , S. , and Krishnamachari , B . 2003. Energy-Quality tradeoffs in sensor tracking: Selective activation with noisy measurements . In Proceedings of the International Conference on Information Processing in Sensor Networks (IPSN). Pattern, S., Poduri, S., and Krishnamachari, B. 2003. Energy-Quality tradeoffs in sensor tracking: Selective activation with noisy measurements. In Proceedings of the International Conference on Information Processing in Sensor Networks (IPSN)."},{"volume-title":"Proceedings of the 3rd ACM Workshop on Embedded Network Sensors (EmNets).","author":"Srinivasan K.","key":"e_1_2_1_16_1","unstructured":"Srinivasan , K. and Levis , P . 2006. Rssi is under appreciated . In Proceedings of the 3rd ACM Workshop on Embedded Network Sensors (EmNets). Srinivasan, K. and Levis, P. 2006. Rssi is under appreciated. In Proceedings of the 3rd ACM Workshop on Embedded Network Sensors (EmNets)."},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/990064.990094"},{"volume-title":"Proceedings of the International Performance, Computing, and Communications Conference (IPCCC'05)","author":"Tilak S.","key":"e_1_2_1_18_1","unstructured":"Tilak , S. , Kolar , V. , Abe-Ghazaleh , N. B. and Kang , K . -D. 2005. Dynamic localization control for mobile sensor networks . In Proceedings of the International Performance, Computing, and Communications Conference (IPCCC'05) . 587--592. Tilak, S., Kolar, V., Abe-Ghazaleh, N. B. and Kang, K.-D. 2005. Dynamic localization control for mobile sensor networks. In Proceedings of the International Performance, Computing, and Communications Conference (IPCCC'05). 587--592."},{"key":"e_1_2_1_19_1","unstructured":"Ublox. 2013a. 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Prediction-Based strategies for energy saving in object tracking sensor networks . In Proceedings of the IEEE Conference on Data Mining (ICDM). Winter, J., Xu, Y., and Lee, W. 2004. Prediction-Based strategies for energy saving in object tracking sensor networks. In Proceedings of the IEEE Conference on Data Mining (ICDM)."},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2007.11.007"},{"volume-title":"Habitat Monitoring with ZebraNet: Design and Experiences","author":"Zhang P.","key":"e_1_2_1_25_1","unstructured":"Zhang , P. , Sadler , C. , Liu , T. , Fishchhoff , Martonosi, M., Habitat Monitoring with ZebraNet: Design and Experiences . Artech House . Chapter Wireless sensor networks: A systems perspective. Zhang, P., Sadler, C., Liu, T., Fishchhoff, Martonosi, M., et al. 2005. Habitat Monitoring with ZebraNet: Design and Experiences. Artech House. Chapter Wireless sensor networks: A systems perspective."}],"container-title":["ACM Transactions on Sensor Networks"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2422966.2422980","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/2422966.2422980","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T20:14:03Z","timestamp":1750277643000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2422966.2422980"}},"subtitle":["GPS duty cycling with radio ranging"],"short-title":[],"issued":{"date-parts":[[2013,3]]},"references-count":24,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2013,3]]}},"alternative-id":["10.1145\/2422966.2422980"],"URL":"https:\/\/doi.org\/10.1145\/2422966.2422980","relation":{},"ISSN":["1550-4859","1550-4867"],"issn-type":[{"type":"print","value":"1550-4859"},{"type":"electronic","value":"1550-4867"}],"subject":[],"published":{"date-parts":[[2013,3]]},"assertion":[{"value":"2010-12-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2012-02-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2013-04-01","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}