| In wireless sensor networks, when localization errors do not exist, the power-aware geographic routing algorithm can significantly reduce the routing energy consumption and prolong the network lifetime. However, in this paper, it is shown that localization errors may incur enormous delivery failures and more energy consumption in the power-aware routing. Based on the analysis of two main routing error scenarios caused by the inaccurate location information, a robust power-aware routing algorithm, Robust-PowerCost, is proposed, which can effectively mitigate the impacts of localization errors on routing performance and preserve the energy-conserving effect at the same time. Extensive simulations are performed and it is shown in the results that, Robust-PowerCost far outperforms the previous algorithm in the presence of localization errors and achieves near optimal performance for a wide range of system configurations. |