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Under given energy constraints, a fundamental problem in wireless networks is to maximize network lifetime and prolong network operational lifetime. Since nodes in the network can be affected with interference of peripheral nodes, it causes collisions and congestions. Thus, whole network consumes more energy. It is clear that the higher density of network the higher degree of nodes. It leads to more redundant coverage, i.e. more overlapped areas (joint areas between adjusted nodes) in the network, which also increases energy consumption and probability of collisions. This paper proposes an energy-efficient topology control algorithm. Based on location awareness, the proposed algorithm minimizes a set of the relay nodes keeping the connectivity and whole network coverage. To address this, the algorithm calculates density of network and divides the transmission range of a node into border area and core area. Then, the algorithm calculates overlapped areas between border nodes and selects relays amongst them. As a result, the network can be seen as a sparse network in which the overlapped areas are reduced. Since only selected nodes act as relays at the particular time interval, it helps to reduce whole network energy consumption, prolong operational network lifetime and reduce collisions or congestions. The results of simulation show that the proposed algorithm improves energy-efficiency of the network while preserving connectivity and functions of routing agent.