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outer approximation method
Gholami, M. R., E. G. Ström, F. Sottile, D. Dardari, A. Conti, S. Gezici, M. Rydström, and M. A. Spirito, "Static positioning using UWB range measurements", Future Network and Mobile Summit, 2010, Florence, Italy, pp. 1 -10, 06/2010.
obstacles
Xiong, Z., F. Sottile, M. A. Spirito, and R. Garello, "Hybrid Indoor Positioning Approaches Based on WSN and RFID", 4th IFIP International Conference on New Technologies, Mobility and Security (NTMS), Paris, France, pp. 1 -5, 02/2011.