Wei Cheng Andrew Thaeler Xiuzhen Cheng Fang Liu Xicheng Lu Zexin Lu Time-Synchronization Free Localization in Large Scale Underwater Acoustic Sensor Networks. 80-87 2009 ICDCS Workshops http://dx.doi.org/10.1109/ICDCSW.2009.79 conf/icdcsw/2009 db/conf/icdcsw/icdcsw2009.html#ChengTCLLL09