Figure 3From: Cooperative localization in wireless ad hoc and sensor networks using hybrid distance and bearing (angle of arrival) measurementsUnderlying graph of the cooperative sensor network shown in Fig. 2. The nodes 1, 2, and 3 correspond to three anchor nodes. These nodes are connected by edges between each other in the graph since the corresponding distances, although not measured via sensors, can be calculated using the known positions of the anchor nodes.Back to article page