# First-version report

The pipeline generates random node positions, measures only radio-connected
links, completes the distance matrix using all-pairs shortest paths, and
applies classical two-dimensional MDS. An SVD-based Procrustes similarity
transform maps the relative MDS coordinates to the known anchor coordinates.

Circular lateration estimates each unknown by minimizing range residuals.
Square lateration intersects axis-aligned square bounds around the anchors and
uses the center of the intersection. Both baselines use only direct
anchor-to-unknown measurements.

The Monte Carlo script records per-node errors and the metrics table, allowing
methods to be compared under the same generated networks and noise settings.