The rest of the paper is structured as follows. The next section discusses related work and expands on Sextant’s contributions. In sections 3 through 6, we discuss the basic operation of Sextant, including its area representation, its extraction of constraints from wireless radios and sensors, and its distributed solution techniques for node and event localization. Section 7 describes how the inter- action between node and event localization can be used to refine position estimates. Section 8 describes the network protocol used to obtain and combine position estimates. Section 9 outlines the structure and complexity of the Sextant implementation. Section 10 provides results from our simulations and physical experiments and Section 11.
