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There has been recently a trend of exploiting the heterogeneity in WSNs and the mobility of either the sensor nodes or the sink nodes to facilitate data dissemination in WSNs. Recently, there has been much focus on mobile sensor networks, and we have even seen the development of small-profile sensing devices that are able to control their own movement. Although it has been shown that mobility alleviates several issues relating to sensor network coverage and connectivity, many challenges remain. Among these, the need for position estimation is perhaps the most important. Not only is localization required to understand sensor data in a spatial context, but also for navigation, a key feature of mobile sensors. This paper concerns the localization problem in the case where all nodes in the network (anchors and others sensors) are mobile. We propose the technique following the capabilities of nodes. Thus, each node obtains either an exact position or an approximate position with the knowledge of the maximal error born. Also, we adapt the periods where nodes invoke their localization. Simulation results show the performances of our method in term of accuracy and determinate the technique the more adapted related to the network configurations.

A Distributed Method to Localization for Mobile Sensor Networks based on the convex hull