Fig. 2From: Backtracking-based dynamic programming for resolving transmit ambiguities in WSN localizationIllustration of the notation and the effects of the transmit ambiguities. Considered here are an agent i, which is assumed to use ID \(I_{\mathcal {R}}\) (red), and two surrounding agents (using ID \(I_{\mathcal {B}}\) (blue)), of which one is within the communication range of i. Also illustrated are the actual distances between i and the other two agents and the RVs that describe potential measurements of those distances. For both cases, the table given on the right-hand side clarifies the notation and the fact that no measurement of the distance between i and k has been made. Here, \(m\dot {\sim } d\) is used to denote that measurement m is a single realization, i.e., a sample, of the distribution dBack to article page