[Tinyos-help] Localization Algorithm

[Termodonte]

Hello again,
i would like to know if anybody knows some localization algorithms like trilateration or triangulation or robust quads that are just implemented and free to use. i ask this because i created an application of Ranging with RSSI that takes distance and coordinates from the anchors around the unknown mote. So i'm looking for an algorithm that grabs these values and gives me the exact position of unknown node. anyone knows something about this?

thanks in advance

T.
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