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L Doherty, K. S. J. Pister and L. E. Ghaoui, “Convex Position Estimation in Wireless Sensor Networks,” Proceedings of the 20th Annual Joint Conference of the IEEE Computer and Communications Societies, Anchorage, Vol. 3, 22-26 April 2001, pp. 1655-1663. doi:10.1023/A:1023403323460

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