Locating the nodes: cooperative localization in wireless sensor networks Patwari, N. ; Ash, J. N. ; Kyperountas, S. ; Hero, A. O. ; Moses, R. L. ; Correal, N. S. Abstract Publication: IEEE Signal Processing Magazine Pub Date: July 2005 DOI: 10.1109/MSP.2005.1458287 Bibcode: 2005ISPM...22...54P