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Localisation is required for many ad-hoc sensor network applications. In this paper, the authors look at the limitations of the existing localisation technique, Anchor Free Localisation (AFL) with regards to coping with non-uniform anchor distributions and errors in ranging information. They present a refined approach called Refined Anchor Free Localisation (R-AFL) that uses a combination of mobile anchor scenarios for anchor information distribution, along with statistical techniques for performing localisation with inaccurate range data. This algorithm is a centralized incremental algorithm.
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