| Simulation parameters | Setup |
| Simulation area | 20 m × 20 m Square area |
| Node | Random distribution |
| Number of unknown nodes | 20 |
| Number of anchor nodes | 4 |
| Step size | 0.2 |
| Probability of discovery | 0.25 |
| Nest number | 20 |
| Measuring distance error | Obey the Gaussian distribution with mean 0 and variance |