@ARTICLE{spmag:2005,
  author = {Neal Patwari and Joshua N. Ash and Spyros Kyperountas
	 and Alfred O. Hero III and Randolph L. Moses and Neiyer S. Correal},
  title = {Locating the nodes: cooperative localization in wireless sensor networks},
  journal = {{IEEE} Signal Processing Magazine},
  year = {July 2005},
  volume = {22},
  pages = {54-69},
  number = {4},
}