ROPE: robust position estimation in wireless sensor networks

We address the problem of secure location determination, known as secure localization, and the problem of verifying the location claim of a node, known as location verification, in wireless sensor networks (WSN). We propose a robust positioning system we call ROPE that allows sensors to determine their location without any centralized computation. In addition, ROPE provides a location verification mechanism that verifies the location claims of the sensors before data collection. We show that ROPE bounds the ability of an attacker to spoof sensors´ locations, with relatively low density deployment of reference points. We confirm the robustness of ROPE against attacks analytically and via simulations.