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Due to their low cost, various range-free localization techniques are widely applied to estimate device locations in wireless sensor networks (WSNs), especially where other communication signals, such as those from a global positioning system, are absent. Among range-free techniques, the centroid algorithm has gained popularity because of its simplicity and low computational cost, rendering it suitable for power-sensitive sensor nodes or nodes. WSN topologies are unpredictable because sensor nodes are often deployed at arbitrary locations, making it difficult for sufficient numbers of known (anchor) nodes to cover all unknown nodes. Consequently, both centroid algorithm and its enhanced versions [e.g., weighted centroid (WC) algorithms] yield relatively high localization inaccuracy. In this paper, to successfully form anchor-node triangles, we propose a low-cost technique to determine the number of virtual …