Location awareness is a key enabling feature and fundamental challenge in present and future wireless networks. Most existing\r\nlocalization methods rely on existing infrastructure and thus lack the flexibility and robustness necessary for large ad hoc networks.\r\nIn this paper, we build upon SPAWN (sum-product algorithm over a wireless network), which determines node locations through\r\niterative message passing, but does so at a high computational cost. We compare different message representations for SPAWN\r\nin terms of performance and complexity and investigate several types of cooperation based on censoring. Our results, based on\r\nexperimental data with ultra-wideband (UWB) nodes, indicate that parametric message representation combined with simple\r\ncensoring can give excellent performance at relatively low complexity.
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