  Due to hardware and computational constraints, wireless sensor networks
(WSNs) normally do not take measurements of time-of-arrival or
time-difference-of-arrival for rangebased localization. Instead, WSNs in some
applications use rangefree localization for simple but less accurate
determination of sensor positions. A well-known algorithm for this purpose is
the centroid algorithm. This paper presents a range-free localization technique
based on the radical line of intersecting circles. This technique provides
greater accuracy than the centroid algorithm, at the expense of a slight
increase in computational load. Simulation results show that for the scenarios
studied, the radical line method can give an approximately 2 to 30% increase in
accuracy over the centroid algorithm, depending on whether or not the anchors
have identical ranges, and on the value of DOI.
