Mobile network localization

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.