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To know the location of nodes plays an important role in many current and envisioned wireless sensor network applications. In this framework, the authors consider the problem of estimating the locations of all the nodes of a network, based on noisy distance measurements for those pairs of nodes in range of each other, and on a small fraction of anchor nodes whose actual positions are known a priori. The methods proposed so far in the literature for tackling this non-convex problem do not generally provide accurate estimates. The difficulty of the localization task is exacerbated by the fact that the network is not generally uniquely localizable when its connectivity is not sufficiently high.
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