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The authors propose a distributed algorithm that uses inter-vehicle distance estimates, made using a radio-based ranging technology, to localize a vehicle among its neighbors. Given that the inter-vehicle distance estimates contain noise; their algorithm reduces the residuals of the Euclidean distance between the vehicles and their measured distances, allowing it to accurately estimate the position of a vehicle within a cluster. In this paper, the authors show that their proposed algorithm outperforms previously proposed algorithms and present its performance in a simulated vehicular environment.
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