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Our formulation incorporates anchor uncertainty by employing a truncated normal multivariate distribution. This unified approach generalizes previous formulations as it is applicable to various network architectures and noise levels, and various anchor certainty or uncertainty scenarios.<\/jats:p>\n          <jats:p>Additionally, we introduce a novel algorithm that is simple, fast, fully distributed, and parallel. This algorithm converges to critical points of the non-convex, non-smooth, and constrained unified maximum-likelihood formulation. Notably, the algorithm is suitable for both centralized and distributed network architectures, making it well-suited for very large-scale networks comprising even thousands of sensors.<\/jats:p>","DOI":"10.1145\/3757744","type":"journal-article","created":{"date-parts":[[2025,7,31]],"date-time":"2025-07-31T06:34:54Z","timestamp":1753943694000},"page":"1-30","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Fast and Convergent Method for Large-Scale Sensor Network Localization With Anchor Uncertainty"],"prefix":"10.1145","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7498-3164","authenticated-orcid":false,"given":"Eyal","family":"Gur","sequence":"first","affiliation":[{"name":"The Faculty of Data and Decision Sciences, Technion Israel Institute of Technology","place":["Haifa, Israel"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0877-8231","authenticated-orcid":false,"given":"Shoham","family":"Sabach","sequence":"additional","affiliation":[{"name":"The Faculty of Data and Decision Sciences, Technion Israel Institute of Technology","place":["Haifa, Israel"]}]}],"member":"320","published-online":{"date-parts":[[2025,9,24]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0272014"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1186\/s13634-021-00768-w.pdf"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-40009-4.pdf"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1002\/047174414X.ch9"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611973655"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611974997"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1137\/080716542"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.orl.2013.10.007"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.3390\/s18124179"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1145\/1149283.1149286"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/78.301830"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1155\/2012\/962523"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1214\/17-BA1052.full"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.5555\/1941122"},{"key":"e_1_3_2_16_2","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1016\/j.laa.2005.06.024","article-title":"A sharp upper bound on the largest laplacian eigenvalue of weighted graphs","volume":"409","author":"Das Kinkar Ch","year":"2005","unstructured":"Kinkar Ch Das and RB Bapat. 2005. 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