DistributedPositioning TODO improve difficulty: generalize to 3d increase time between each communication non-zero-mean noise TODO improve accuracy estimate: use number of knownNodes and their accuracy to estimate own accuracy if knownNodes <= 2 then cost should be 0 and can't be used for estimating accuracy stddev(posEst) could be a good estimate of accuracy if it is close to correct position switch from scalar 'accuracy' to covariance matrix for each direction TODO misc: find why system does not converge in beginning improve search algortihm in findNode