On Distributed Localization for Road Sensor Networks: A Game Theoretic Approach

Algorithm 1

Distributed localization algorithm based on potential game.

(1) set  𝑡=0, 𝑠_𝑖={∅},𝑤_𝑖=0(∀𝑖∈𝐴)

(2) while   𝑡<𝑇

(3)  for each non-anchor node 𝑖∈𝐴

(4) //solution space generation

(5) get posOfNeighborsandnumOfNeighborAnchor of 𝑖

(6) if  numOfNeighborAnchor < 1

(7)   set its straSpace as the target area

(8) else if  numOfNeighborAnchor equals to 1

(9)   set its straSpace as the communication circle of its anchor

(10) else if  numOfNeighborAnchor equals to 2

(11)   set its straSpace as the junctions of its neighbor anchors’ communication circles

(12)  else

(13)   estimate the position of the player using existing localization algorithms

(14)    𝐴=𝐴−{𝑖};

(15)    continue;

(16)  end if

(17)  // negotiation

(18)  𝑠^rand_𝑖← random strategy form its strategy space;

(19)   if 𝑝𝑠^rand_𝑖,𝑠^𝑡_𝑖≥ random number from 0 to 1

(20)   𝑠_𝑖^𝑡+1←𝑠^rand_𝑖

(21)  else

(22)   𝑠_𝑖^𝑡+1←𝑠^𝑡_𝑖

(23)  end if

(24)   // anchor node elevation

(25)   if  𝑈_𝑖𝑠_𝑖^𝑡+1,𝑠_−𝑖≤Θ_ℎ

(26)    𝑤_𝑖=𝑤_𝑖+1;

(27)    if  𝑤_𝑖≥𝑘

(28)    Elevate node𝑖 as an anchor node

(29)    𝐴=𝐴−{𝑖};

(30)    else

(31)   𝑤_𝑖=0

(32)  𝑡=𝑡+1

(33)   end if

(34) end for

(35) end while