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Moore at al. presented in  a cluster-based distributed algorithm for localizing wireless sensor network (WSN) nodes in presence of range measurement noise. They introduced the notion of "robust quadrilaterals" as a means of avoiding flip ambiguities that often corrupt the results of localization algorithm. This paper1 proposes an enhancement of the algorithm presented in  that uses a new quadrilateral robustness test. A second novel distributed algorithm for anchor-less localization of WSN nodes in presence of range measurements noise is presented. This second algorithm reduces the total computational complexity with respect to the first two algorithms by a factor at least equal to the number of nodes in the WSN. It is made of two main steps: the first one, where a single cluster of nodes is localized, and a second one where the other unknown nodes are estimated by successive trilaterations. The original algorithm  and the two novel algorithms proposed in this paper are compared by means of simulations in terms of complexity, convergence and location accuracy performance.