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

Algorithm 2

ECOPS: CollaborativePB().

1: while  𝑝_𝑟≥𝑝_min  do

2:  listen to connection request from a PR;

3: wait for location request from a PR;

4: if   PR requests then

5:  check the time elapsed since the device got location

   information (𝑡_𝑒)

6:  calculate 𝐼_decay;

7:  if   𝐼_decay < 𝛼   then

8:   update its GPS location information;

9:   𝑡_𝑒=0;

10:  end if

11: end if

12: broadcast current GPS location information;

13: check the residual power (𝑝_𝑟);

14: end while

15: execute CollaborativePR();