On-demand asynchronous localization for underwater sensor networks

In this paper we consider the issue of localization in the context of underwater sensor networks which contain anchor nodes with perfect knowledge of their position, but asynchronous clocks. By taking advantage of a sequential broadcasting protocol the entire network can be localized simultaneously with minimal overhead. Additionally, it can be initiated by any node at any time. Through extensive simulation we have verified these claims, and further shown that both initiator and passive nodes can achieve low-error positioning.