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The availability of small, inexpensive low-power GPS receivers and techniques for finding relative coordinates based on signal strengths, and the need for the design of power-efficient and scalable networks provided justification for applying position-based routing methods in ad hoc networks. A number of such algorithms were developed previously. This tutorial will concentrate on schemes that are loop-free, localized, and follow a single-path strategy, which are desirable characteristics for scalable routing protocols. Routing protocols have two modes: greedy mode (when the forwarding node is able to advance the message toward the destination) and recovery mode (applied until return to greedy mode is possible). We discuss them separately. Methods also differ in metrics used (hop count, power, cost, congestion, etc.), and in past traffic memorization at nodes (memoryless or memorizing past traffic). Salient …