Leon Evers Stefan Dulman Paul J. M. Havinga A Distributed Precision Based Localization Algorithm for Ad-Hoc Networks. 269-286 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3001&spage=269 2004 conf/pervasive/2004 Pervasive db/conf/pervasive/pervasive2004.html#EversDH04