Cooperative multihop localization with privacy

We introduce a cooperative algorithm for self and target network localization with privacy. The algorithm differs form other cooperative localization algorithms in which it does not require nodes to disclose their location or even to measure (or share) their mutual distances. This is achieved by a combination of two factors: a) a novel closed-form statistical relationship between the hop- and Euclidean-distances of distributed random Breadth Search First (BSF) paths; and b) novel multihop localization algorithms. The results, compared against conventional multihop distance collection indicate that, remarkably, the privacy offered by the proposed cooperative localization algorithm does not incur any significant sacrifice in accuracy.