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The paper develops DILOC, a distributive, iterative algorithm that locates M sensors in R^m, m≥ 1, with respect to a minimal number of m+1 anchors with known locations. The sensors exchange data with their neighbors only; no centralized data processing or communication occurs, nor is there centralized knowledge about the sensors' locations. DILOC uses the barycentric coordinates of a sensor with respect to its neighbors that are computed using the Cayley-Menger determinants. These are thedoi:10.1109/tsp.2009.2014812 fatcat:djrhoc7zq5brvfg7mjdkgpyg24