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This paper introduces a new localization algorithm called COM-LOC++ that improves the performance of a recently introduced distributed range-free algorithm called COM-LOC. COM-LOC and other existing range-free algorithms only process the information received from one reference node in order to estimate the distance to that reference node. COM-LOC++ improves this performance by processing the information received from all heard reference nodes to estimate the distance to one reference node. Simulations show that the use of this additional part of information decreases the localization error by 50???.110% and the localization stability by 20???.60%, relative to COMLOC.
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