ECOPS: Energy-Efficient Collaborative Opportunistic Positioning for Heterogeneous Mobile Devices

Algorithm 1

ECOPS: Initial procedure deciding whether a device becomes either a PB or a PR.

1: check the residual power (𝑝_𝑟);

2: if GPS-equipped device & 𝑝_𝑟≥𝑝_min  then

3:  device becomes 𝑃𝐵 and activates WiFi hotspot;

4:  executes CollaborativePB();

5: else if non-GPS device ∣∣ 𝑝_𝑟<𝑝_min  then

6:  device becomes PR and executes CollaborativePR();

7: end if