The full text of this article:

Secure target localisation in sensor networks using relaxation labelling
by Chih-Chieh Geoff Chang, Wesley E. Snyder, Cliff Wang
International Journal of Sensor Networks (IJSNET), Vol. 4, No. 3, 2008
Abstract: In this paper, a new strategy is proposed to defend against colluding malicious nodes in a sensor network. The strategy is based on a new relaxation labelling algorithm to classify nodes into benign or malicious ones. Only reports from benign nodes can then be used to perform localisation and obtain accurate results. Experimental results based on simulations and field experiments illustrate the performance of the algorithm.

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