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In this paper, we present a novel approach to automatically determine the positions of sensors and actuators in an ad-hoc distributed network of heterogeneous general purpose computing platforms. The formulation and solution accounts for the limited precision in temporal synchronization. The theoretical performance limit for the sensor positions is derived via the Cramér-Rao bound. We analyze the sensitivity of localization accuracy with respect to the number of sensors and actuators as well asdoi:10.1145/957013.957133 dblp:conf/mm/RaykarKL03 fatcat:abxlpnnbnngcbbktss4nn6chf4