Cooperative Localization in WSNs: a Hybrid Convex/non-Convex Solution
  We propose an efficient solution to peer-to-peer localization in a wireless sensor network which works in two stages. At the first stage the optimization problem is relaxed into a convex problem, given in the form recently proposed by Soares, Xavier, and Gomes. The convex problem is efficiently solved in a distributed way by an ADMM approach, which provides a significant improvement in speed with respect to the original solution. In the second stage, a soft transition to the original, non-convex, non relaxed formulation is applied in such a way to force the solution towards a local minimum. The algorithm is built in such a way to be fully distributed, and it is tested in meaningful situations, showing its effectiveness in localization accuracy and speed of convergence, as well as its inner robustness. 
Nicola Piovesan, Tomaso Erseghe
cs.NI math.OC