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Recent advances in miniaturization and low-cost, lowpower design have led to active research in large-scale networks of small, wireless, low-power sensors and actuators. Time synchronization is critical in sensor networks for diverse purposes including sensor data fusion, coordinated actuation, and power-efficient duty cycling. Though the clock accuracy and precision requirements are often stricter than in traditional distributed systems, strict energy constraints limit the resources available to meet these goals.doi:10.1145/844128.844143 fatcat:36ovprxebja3pgccegqwnegksa