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The authors consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. They propose a distributed algorithm based on belief propagation, which allows sensors to cooperatively self-localize with respect to one single anchor in a multi-hop network. The algorithm has low overhead and is scalable. Simulations show that although the network is loopy, the proposed algorithm converges, and achieves good localization accuracy.
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