“…Based on the reception of these beacons, devices compute their positions. In range-based systems [7,18,20,36,39], the localized node (LN) records the signals received from access points, measures their RSS values, converts them into ranges, and estimates its own positions using the measured ranges. In range-free systems, the LN registers which APs are in its reception range and, based on this information, estimates its position.…”