Wireless sensor networks are inherently collaborative environments in which sensor nodes self-organize and operate in groups that typically are dynamic and mission-driven. Secure communications in wireless sensor networks under this collaborative model calls for efficient group key management. However, providing key management services in wireless sensor networks is complicated by their ad-hoc nature, intermittent connectivity, large scale, and resource limitations. To address these issues, this paper proposes a new energy-efficient key management scheme for networks consisting of a large number of commodity sensor nodes that are randomly deployed. All sensor nodes in the network are anonymous and are preloaded with identical state information. The proposed scheme leverages a location-based virtual network infrastructure and is built upon a combinatorial formulation of the group key management problem. Secure and efficient group key initialization is achieved in the proposed scheme by nodes autonomously computing, without any communications, their respective initial group keys. The key server, in turn, uses a simple location-based hash function to autonomously deduce the mapping of the nodes to their group keys. The scheme enables dynamic setup and management of arbitrary secure group structures with dynamic group membership.