Figure 21From: A Relative-Localization Algorithm Using Incomplete Pairwise Distance Measurements for Underwater ApplicationsMapped node positions with respect to actual surveyed positions using anchor nodes 1, 2, and 3. Circles are actual surveyed positions, crosses are positions resolved with complete set of pairwise distance, triangle are resolved with 10% largest distance missing, while asterisks are resolved with 20% largest distance missing.Back to article page