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We consider a distributed, probabilistic approach, suitable for outdoor systems with inaccurate range measurements. The approach restricts the possible locations of the nodes by using a combination of positive and negative constraints. We reduce the computational complexity of the algorithm by using two-dimensional fast Fourier transforms (FFTs). We evaluated the proposed probabilistic approach through simulations based on real-world measurements; the results are compared with two other localization schemes and the Cramer-Rao lower bound (CRLB). The results show that, for inaccurate range measurements, the proposed probabilistic approach outperforms existing methods and approaches the CRLB.<\/jats:p>","DOI":"10.1145\/1234822.1234823","type":"journal-article","created":{"date-parts":[[2007,4,5]],"date-time":"2007-04-05T19:52:18Z","timestamp":1175802738000},"page":"53-64","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":52,"title":["Probabilistic localization for outdoor wireless sensor networks"],"prefix":"10.1145","volume":"11","author":[{"given":"Rong","family":"Peng","sequence":"first","affiliation":[{"name":"North Carolina State University, Raleigh, NC"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mihail L.","family":"Sichitiu","sequence":"additional","affiliation":[{"name":"North Carolina State University, Raleigh, NC"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2007,1]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2002.1024422"},{"key":"e_1_2_1_2_1","first-page":"775","volume-title":"Tel Aviv","author":"Bahl P.","year":"2000"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/570645.570674"},{"key":"e_1_2_1_4_1","first-page":"2273","article-title":"Evaluation of RSSI-based human tracking","author":"Latvala J.","year":"2000","journal-title":"European Signal Processing Conference"},{"key":"e_1_2_1_5_1","volume-title":"MO","author":"Bhargava V.","year":"2005"},{"key":"e_1_2_1_6_1","volume-title":"Bayesian indoor positioning systems,\" in Proc. of IEEE INFOCOM","author":"Madigan D.","year":"2005"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1145\/345910.345917"},{"key":"e_1_2_1_8_1","volume-title":"DV Based Positioning in Ad hoc Networks,\" Telecommunication Systems","author":"Niculescu D.","year":"2003"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/570738.570755"},{"key":"e_1_2_1_10_1","first-page":"2037","volume-title":"Locationing in distributed ad-hoc wireless sensor networks,\" in Proc. of ICASSP '01","author":"Savarese C.","year":"2001"},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1013933626682"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/1031495.1031502"},{"key":"e_1_2_1_13_1","first-page":"2652","article-title":"Sensor Positioning in Wireless Ad-hoc Sensor Networks Using Multidimensional Scaling","author":"Ji X.","year":"2004","journal-title":"Proc. of IEEE INFOCOM"},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/984622.984632"},{"key":"e_1_2_1_15_1","first-page":"275","volume-title":"Localization in wireless sensor networks: A probabilistic approach,\" in Proc. of the 2003 International Conference on Wireless Networks (ICWN","author":"Ramadurai V.","year":"2003"},{"key":"e_1_2_1_16_1","volume-title":"Localization of wireless sensor networks with a mobile beacon,\" in Proc. of the First IEEE Conference on Mobile Ad-hoc and Sensor Systems (MASS","author":"Sichitiu M. 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