Evolvingnetworksofad-hoc,wirelesssensingnodesrelyheavilyontheabilitytoestablishpositioninformation.Thealgorithmspresentedhereinrelyonrangemeasurementsbetweenpairsofnodesandtheaprioricoordinatesofsparselylocatedan-chornodes.Clustersofnodessurroundinganchornodescooperativelyestablishconfide