In this work it is presented an efficient algorithm for localization based on an internal array of nodes within cells. The main hypothesis of this work is the following: if the application can be planned, then the density of cells is defined as the main parameter. It is shown that the magnitude of localization error during a random positioning of the grouped cells may be determined if the strength in RF signal is varied. The localization algorithm can be applied either using range-based or range-free methods. The efficiency of this algorithm is based on the following relevant results: the complexity decreases; the operational problems, such as collinear nodes, reflexions and signal interferences, are reduced; and finally it avoids the overlapping problem.