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In this paper, the positioning problem is formulated as a Convex Feasibility Problem (CFP). To solve the CFP for non-cooperative networks, the authors consider the well-known Projection Onto Convex Sets (POCS) technique, and study its properties for positioning. They also study Outer-Approximation (OA) methods to solve CFP problems. They then show how the POCS estimate can be upper bounded by solving a non-convex optimization problem. Moreover, they introduce two techniques based on OA and POCS to solve the CFP for cooperative networks and obtain two new distributed algorithms. Simulation results show that the proposed algorithms are robust against non-line-of-sight conditions.
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