Amitabh Basu Jie Gao Joseph S. B. Mitchell Girishkumar Sabhnani Distributed localization using noisy distance and angle information. 262-273 2006 conf/mobihoc/2006 MobiHoc http://doi.acm.org/10.1145/1132905.1132934 db/conf/mobihoc/mobihoc2006.html#BasuGMS06