Localizability

Based on distance ranging techniques, the ground truth of a wireless ad hoc network can be modeled by a distance graph G = (V, E), where V is the set of wireless communication devices (e.g., laptops, RFID tags, or sensor nodes) and there is an unweighted edge (i, j) ∈ E if the distance between vertices i and j can be measured or both of them are at known locations, e.g., beacon nodes. Associated with each edge (i, j), we use a function d(i, j): E → R to denote the measured distance value between i and j.