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Sensor networks will change the way computers interface with our world and with each other. This transformation will be shaped by the network centric paradigm demonstrated in sensor networks. Sensor networks also require a data-centric communication paradigm to efficiently and effectively share data. Directed diffusion is a data-centric communication paradigm that forms a foundation of this paper. Energy efficient routing algorithms have been developed for directed diffusion; however, we have developed improved algorithms, which are described in this paper. We also present computer simulation results, which verify the effectiveness of previously established routing algorithms and compare them to our new and improved routing algorithms. The results show significant increase in energy efficiency and resilience. Finally, the paper incorporates effective techniques for modeling of sensor networks to demonstrate the usefulness of the new algorithms.