Global existence for quasilinear wave equations satisfying the null condition

We explore the global existence of solutions to systems of quasilinear wave equations satisfying the null condition when the initial data are sufficiently small. We adapt an approach of Keel, Smith, and Sogge, which relies on integrated local energy estimates and a weighted Sobolev estimate that yields decay in $|x|$, by using the $r^p$-weighted local energy estimates of Dafermos and Rodnianski. One advantage of this approach is that all time-dependent vector fields can be avoided and the proof can be readily adapted to address wave equations exterior to star-shaped obstacles.