Mobile network localization

1. A method for localization of a first agent in a network including a plurality of agents, the plurality of agents including a plurality of mobile agents and one or more beacons located at known locations, the method comprising:

performing a procedure including,

receiving transmissions from a plurality of neighboring agents;

processing the transmissions to determine information related to a relative location of the first agent and each neighboring agent of the plurality of neighboring agents;

determining, based on the information related to the relative location of the first agent and each neighboring agent, that the first agent is within one or more proximity regions; and

updating an estimated location of the first agent based on the information related to a relative location of the first agent and each neighboring agent.

2. The method of claim 1 further comprising determining that a number of neighboring agents in the plurality of neighboring agents exceeds a threshold required to form the one or more proximity regions.

3. The method of claim 1 wherein the information related to the relative location of the first agent and each neighboring agent includes distance information.

4. The method of claim 1 wherein the information related to the relative location of the first agent and each neighboring agent includes directional information.

5. The method of claim 1 wherein each proximity region is formed as a convex hull formed according to locations of three or more agents of the plurality of neighboring agents.

6. The method of claim 1 further comprising repeatedly performing the procedure until an error threshold is met.

7. The method of claim 1 further comprising maintaining, at each mobile agent, an estimate of a direction and distance traveled location relative to a previous location.

8. The method of claim 7 wherein the previous location is an initial location.

9. The method of claim 1 wherein at least one of the proximity regions is determined based on a location of a first neighboring agent of the plurality of neighboring agents at a first time and a location of a second neighboring agent of the plurality of neighboring agents at a second time.

10. The method of claim 1 wherein at least one agent of the plurality of neighboring agents is a beacon.

11. The method of claim 1 wherein determining whether the first agent is included in one or more proximity regions includes determining barycentric coordinates of the first agent in the one or more proximity regions.

12. The method of claim 1 wherein the one or more beacons consists of a single beacon.

13. The method of claim 1 wherein the one or more proximity regions includes a plurality of proximity regions.

14. The method of claim 1 wherein at least some beacons of the one or more beacons is located at a fixed location.

15. A method for localization of a first agent in a network including a plurality of agents, the plurality of agents including a plurality of mobile agents and one or more beacons located at known locations, the method comprising:

performing a procedure including,

receiving transmissions from a plurality of neighboring agents;

processing the transmissions to determine information related to a relative location of the first agent and each neighboring agent of the plurality of neighboring agents;

determining, based on the information related to the relative location of the first agent and each neighboring agent, that the first agent is within one or more proximity regions; and

updating an estimated location of the first agent based on the information related to a relative location of the first agent and each neighboring agent,

wherein the updating an estimated location of the first agent includes performing a linear update operation.

16. The method of claim 15 wherein the linear update operation includes a linear-convex combination of the information related to a relative location of the first agent and each neighboring agent.