Neighbor Discovery is one of the emerging research areas in both wireless sensor network and mobile computing applications. The main objective of Neighbor discovery
is to acquire information about nearby tags for subsequent communication.Besides,
the periodic-signaling mechanism of Neighbor Discovery is suitable for wireless positioning applications. However, the collision problem has been left to application level in typical deterministic Neighbor Discovery, which cannot meet real-time performance requirements in mobile wireless location applications. In response to these limitations, we have designed a collision free neighbor discovery protocol called Colorlight. Colorlight is built on three basic ideas. First, it uses interval coloring method to deal with the collisions among cluster tags whether slot is alignment or not. Second, it ensures that only one beacon is needed in one discovery slot to complete neighbor discovery. Finally, it is easy to organize a collision-free dynamic TDMA schedule for transmitting beacon messages. We show by analysis and OMNET++ simulation that the Colorlight is a promising tool for obtaining free slots in O(log n) periods with high probability and detecting collisions during subsequent execution.