Utilizing peoples' mobile devices for gathering sensor data has attracted a lot of attention within the last few years. As a result, a great variety of systems for sensing environmental phenomena like temperature or noise have been proposed. However, most of these systems do not take into account that mobile devices have only limited energy resources. For instance, an often assumed prerequisite is that mobile devices are always aware of their position. Given the fact that a position fix is a very energy consuming operation, continuous positioning would quickly drain a device's battery. Since the owners of the mobile devices will not tolerate a significant reduction of the devices' battery lifetime, such an approach is not suitable. To address this issue we present PSense, a flexible system for efficiently gathering sensor data with mobile devices. By avoiding unnecessary position fixes, PSense reduces the energy consumption of mobile devices by up to 70% compared to existing mobile sensing approaches. This is achieved by introducing an adaptive positioning mechanism and by utilizing energy efficient short-range communication to exchange position related information.