Simultaneous Localization and Tracking in an Ad Hoc Sensor Network
What	We adapt Simultaneous Localization and Mapping (SLAM), a method used in mobile robotics, to the problem of tracking a target in a sensor network while simultaneously localizing the nodes of the network. Our algorithm is a Bayesian filter, providing on-line probabilistic estimates of sensor locations and target tracks. It does not require globally accessible beacon signals or accurate ranging between the nodes. When applied to a network of 27 sensor nodes, our algorithm can localize the nodes to within one or two centimeters.
Which	see IPSN-06 paper
Why	Localization is not the goal of sensor networks. Use the hardware you have.
Who	Christopher Taylor, Ali Rahimi, Jonathan Bachrach, and Howard Shrobe
How	Java and MATlab and MIT Cricket Motes
When	Fall 2004
Where	MIT CSAIL
And	Coordinate Formation in Sensor Networks