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Wireless Sensor Networks (WSNs) are becoming increasingly popular due to their low cost and wide applicability to support a large number of diverse application areas. Localization of sensor nodes is a fundamental requirement that makes the sensor data meaningful. A Wireless Sensor Network (WSN) consist of spatially distributed autonomous devices using sensors to monitor cooperatively physical or environmental conditions such as temperature, sound, vibration, pressure, motion or pollutants at different locations. The development of wireless sensor networks was originally motivated by a military application like battlefield surveillance.