Andreas Haeberlen Eliot Flannery Andrew M. Ladd Algis Rudys Dan S. Wallach Lydia E. Kavraki Practical robust localization over large-scale 802.11 wireless networks. 70-84 2004 conf/mobicom/2004 MOBICOM http://doi.acm.org/10.1145/1023720.1023728 db/conf/mobicom/mobicom2004.html#HaeberlenFLRWK04