In ad-hoc networks, location estimation must be designzed for mobility and zero-configuration. A peer-topeer relative location system i ~ e s pair-riiise range estimates made between devices and their neaghbors. Derrices are not required to be in, range of fied base stataons, instead, a few known-location devices in the network alloui the remaining devices to cnhdate their location using a maxi...