James Aspnes Tolga Eren David Kiyoshi Goldenberg A. Stephen Morse Walter Whiteley Yang Richard Yang Brian D. O. Anderson Peter N. Belhumeur 1663-1678 2006 5 IEEE Trans. Mob. Comput. 12 http://doi.ieeecomputersociety.org/10.1109/TMC.2006.174 db/journals/tmc/tmc5.html#AspnesEGMWYAB06