Cooperative and Distributed Localization for Wireless Sensor Networks in   Multipath Environments
  We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which allows sensors to cooperatively self-localize with respect to one single anchor in a multihop network. The algorithm has low overhead and is scalable. Simulations show that although the network is loopy, the proposed algorithm converges, and achieves good localization accuracy. 
Mei Leng, Wee Peng Tay, and Tony Q.S. Quek
cs.DC