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It distinguishes itself from previous work with a combination of three features: (1) it works for networks in both 2D and 3D spaces, possibly containing holes or concave regions; (2) it is anchor-free and uses only connectivity information to faithfully recover the original network topology, up to scaling and rotation; (3) it does not depend on the knowledge of network boundaries, which suits it well to situations where boundaries are difficult to identify. The key idea of CATL is to discover the\n            <jats:italic>notch nodes<\/jats:italic>\n            , where shortest paths bend and hop-count-based distance starts to significantly deviate from the true Euclidean distance. An iterative protocol is developed that uses a\n            <jats:italic>notch-avoiding<\/jats:italic>\n            multilateration mechanism to localize the network. Simulations show that CATL achieves accurate localization results with a moderate per-node message cost.\n          <\/jats:p>","DOI":"10.1145\/2529976","type":"journal-article","created":{"date-parts":[[2013,12,10]],"date-time":"2013-12-10T13:28:12Z","timestamp":1386682092000},"page":"1-21","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":20,"title":["Connectivity-based and anchor-free localization in large-scale 2D\/3D sensor networks"],"prefix":"10.1145","volume":"10","author":[{"given":"Guang","family":"Tan","sequence":"first","affiliation":[{"name":"SIAT, Chinese Academy of Sciences, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongbo","family":"Jiang","sequence":"additional","affiliation":[{"name":"Huazhong University of Science and Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shengkai","family":"Zhang","sequence":"additional","affiliation":[{"name":"Huazhong University of Science and Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhimeng","family":"Yin","sequence":"additional","affiliation":[{"name":"Huazhong University of Science and Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Anne-Marie","family":"Kermarrec","sequence":"additional","affiliation":[{"name":"INRIA\/IRISA, Rennes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2013,12,6]]},"reference":[{"doi-asserted-by":"publisher","key":"e_1_2_1_1_1","DOI":"10.1145\/1080829.1080839"},{"key":"e_1_2_1_2_1","article-title":"GPS-less low cost outdoor localization for very small devices. 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