, CRLB in the case of Gaussian noise only (left) and Gaussian-Bernoulli-Gaussian noise (right)

W. Ian-f-akyildiz, Y. Su, E. Sankarasubramaniam, and . Cayirci, Wireless sensor networks: a survey, Computer networks, vol.38, issue.4, pp.393-422, 2002.

J. and A. E. Kamal, Routing techniques in wireless sensor networks: a survey, IEEE wireless communications, vol.11, issue.6, pp.6-28, 2004.

M. Behrisch, L. Bieker, J. Erdmann, and D. Krajzewicz, Sumosimulation of urban mobility, International Conference on Advances in System Simulation, vol.42, 2011.

A. Bertrand, Applications and trends in wireless acoustic sensor networks: A signal processing perspective, IEEE Symposium on Communications and Vehicular Technology, pp.1-6, 2011.
DOI : 10.1109/scvt.2011.6101302

M. C. Campi and E. Weyer, Guaranteed non-asymptotic confidence regions in system identification, Automatica, vol.41, issue.10, pp.1751-1764, 2005.
DOI : 10.1016/j.automatica.2005.05.005

M. C. Campi and E. Weyer, Non-asymptotic confidence sets for input-output transfer functions, Proceedings of IEEE Conference on Decision and Control, pp.157-162, 2006.
DOI : 10.1109/cdc.2006.377438

M. C. Campi and E. Weyer, Non-asymptotic confidence sets for the parameters of linear transfer functions, IEEE Transactions on Automatic Controls, vol.55, issue.12, pp.2708-2720, 2010.

R. Carli and S. Zampieri, Network clock synchronization based on the second-order linear consensus algorithm, IEEE Transactions on Automatic Control, vol.59, issue.2, pp.409-422, 2014.
DOI : 10.1109/tac.2013.2283742

G. Chabert and L. Jaulin, Contractor programming, Artificial Intelligence, vol.173, issue.11, pp.1079-1100, 2009.
DOI : 10.1016/j.artint.2009.03.002
URL : https://hal.archives-ouvertes.fr/hal-00428957

B. Charron-bost, Orientation and connectivity based criteria for asymptotic consensus, 2013.

F. Cristian, Probabilistic clock synchronization, Distributed computing, vol.3, issue.3, pp.146-158, 1989.
DOI : 10.1007/bf01784024

B. C. Csáji, M. C. Campi, and E. Weyer, Non-asymptotic confidence regions for the least-squares estimate, IFAC Symposium on System Identification, pp.227-232, 2012.

M. Dalai, E. Weyer, and M. C. Campi, Parameter identification for nonlinear systems: Guaranteed confidence regions through LSCR, Automatica, vol.43, pp.1418-1425, 2007.
DOI : 10.1016/j.automatica.2007.01.016

M. Dalai, E. Weyer, and M. Campi, Parameter identification for nonlinear systems: Guaranteed confidence regions through lscr, Automatica, vol.43, issue.8, pp.1418-1425, 2007.
DOI : 10.1016/j.automatica.2007.01.016

J. Elson and K. Römer, Wireless sensor networks: A new regime for time synchronization, ACM SIGCOMM Computer Communication Review, vol.33, issue.1, pp.149-154, 2003.
DOI : 10.1145/774763.774787
URL : http://www.ijcaonline.org/volume21/number4/pxc3873382.pdf

J. Elson, L. Girod, and D. Estrin, Fine-grained network time synchronization using reference broadcasts, ACM SIGOPS Operating Systems Review, vol.36, issue.SI, pp.147-163, 2002.
DOI : 10.1145/844128.844143
URL : http://www.usenix.org/events/osdi02/tech/full_papers/elson/elson.pdf

M. Függer, T. Nowak, and B. Charron-bost, Diffusive clock synchronization in highly dynamic networks, Information Sciences and Systems (CISS), 2015 49th Annual Conference on, pp.1-6, 2015.

M. Függer, T. Nowak, and B. Charron-bost, Diffusive clock synchronization in highly dynamic networks, Conference on Information Sciences and Systems, pp.1-6, 2015.

S. Ganeriwal, R. Kumar, and M. Srivastava, Timing-sync protocol for sensor networks, ACM Conference on Embedded networked sensor systems, pp.138-149, 2003.
DOI : 10.1145/958507.958508
URL : http://www.dtic.mil/cgi-bin/GetTRDoc?AD=ADA479533&Location=U2&doc=GetTRDoc.pdf

D. Ganesan, S. Ratnasamy, H. Wang, and D. Estrin, Coping with irregular spatio-temporal sampling in sensor networks, ACM SIGCOMM Computer Communication Review, vol.34, issue.1, pp.125-130, 2004.
DOI : 10.1145/972374.972396
URL : http://www.intel-research.net/Publications/Berkeley/011620041004_209.pdf

E. Garone, A. Gasparri, and F. Lamonaca, Clock synchronization protocol for wireless sensor networks with bounded communication delays, Automatica, vol.59, pp.60-72, 2015.
DOI : 10.1016/j.automatica.2015.06.014

S. Gezici, A survey on wireless position estimation. Wireless personal communications, vol.44, pp.263-282, 2008.
DOI : 10.1007/s11277-007-9375-z

M. R. Gholami, H. Wymeersch, E. G. Ström, and M. Rydström, Wireless network positioning as a convex feasibility problem, Wireless Communications and Networking, issue.1, pp.1-15, 2011.
DOI : 10.1186/1687-1499-2011-161
URL : https://jwcn-eurasipjournals.springeropen.com/track/pdf/10.1186/1687-1499-2011-161

L. Gordon, Completely separating groups in subsampling, The Annals of Statistics, vol.2, issue.3, pp.572-578, 1974.
DOI : 10.1214/aos/1176342719
URL : https://doi.org/10.1214/aos/1176342719

J. Hajnal and . Bartlett, Weak ergodicity in non-homogeneous markov chains, Mathematical Proceedings of the Cambridge Philosophical Society, vol.54, pp.233-246, 1958.
DOI : 10.1017/s0305004100033399

E. Halbwachs and D. Meizel, Bounded-error estimation for mobile vehicule localization. Computational Engineering in Systems Applications, pp.1005-1010, 1996.

C. Han, M. Kieffer, and A. Lambert, Guaranteed confidence region characterization for source localization using rss measurements, Signal Processing, vol.152, pp.104-117, 2018.
DOI : 10.1016/j.sigpro.2018.03.018
URL : https://hal.archives-ouvertes.fr/hal-01754770

C. Han, T. Nowak, and A. Lambert, Pulse synchronization for vehicular networks, intelligent vehicle symposium, 2018.
DOI : 10.1109/ivs.2018.8500375
URL : https://hal.archives-ouvertes.fr/hal-01801622

J. Han, J. Hu, Y. Yang, Z. Wang, X. Shan et al., A nonintrusive power supply design for self-powered sensor networks in the smart grid by scavenging energy from ac power line, IEEE Transactions on Industrial Electronics, vol.62, issue.7, pp.4398-4407, 2015.

J. He, P. Cheng, L. Shi, J. Chen, and Y. Sun, Time synchronization in wsns: A maximum-value-based consensus approach, IEEE Transactions on Automatic Control, vol.59, issue.3, pp.660-675, 2014.
DOI : 10.1109/tac.2013.2286893

K. Huang and Y. Yen, Han-Chieh Chao, and Tree-Clustered Data Gathering Protocol. for wireless sensor networks, Journal of software, vol.4, issue.7, pp.1282-1291, 2003.
DOI : 10.1109/fgcn.2007.223

N. Iliev and I. Paprotny, Review and comparison of spatial localization methods for low-power wireless sensor networks, IEEE Sensors Journal, vol.15, issue.10, pp.5971-5987, 2015.

L. Jaulin and E. Walter, Guaranteed nonlinear parameter estimation from boundederror data via interval analysis, Mathematics and Computers in Simulation, vol.35, issue.2, pp.123-137, 1993.
DOI : 10.1016/0378-4754(93)90008-i

L. Jaulin and E. Walter, Set inversion via interval analysis for nonlinear boundederror estimation, Automatica, vol.29, issue.4, p.166, 1993.
DOI : 10.1016/0005-1098(93)90106-4

L. Jaulin, E. Walter, and O. Didrit, Guaranteed robust nonlinear parameter bounding, Computational Engineering in Systems Applications, 1996.

L. Jaulin, M. Kieffer, O. Didrit, and E. Walter, Applied interval analysis: with examples in parameter and state estimation, robust control and robotics, vol.1, 2001.
URL : https://hal.archives-ouvertes.fr/hal-00845131

M. Kieffer and E. Walter, Guaranteed characterization of exact non-asymptotic confidence regions as defined by LSCR and SPS, Automatica, vol.50, issue.2, pp.507-512, 2014.
DOI : 10.1016/j.automatica.2013.11.010
URL : https://hal.archives-ouvertes.fr/hal-00935817

S. Kim, H. Jeon, and J. Ma, Robust localization with unknown transmission power for cognitive radio, Military Communications Conference, pp.1-6, 2007.
DOI : 10.1109/milcom.2007.4455295

H. Kopetz and W. Ochsenreiter, Clock synchronization in distributed real-time systems, IEEE Transactions on Computers, vol.100, issue.8, pp.933-940, 1987.
DOI : 10.1109/tc.1987.5009516

J. H. Lee and R. M. Buehrer, Location estimation using differential RSS with spatially correlated shadowing, IEEE International Conference on Global Telecommunications, 2009.
DOI : 10.1109/glocom.2009.5425272

J. Léger and M. Kieffer, Guaranteed robust distributed estimation in a network of sensors, IEEE International Conference on Acoustics Speech and Signal Processing, 2010.

Q. Li and D. Rus, Global clock synchronization in sensor networks, IEEE Transactions on computers, vol.55, issue.2, pp.214-226, 2006.

X. Li, Z. D. Deng, L. T. Rauchenstein, and T. J. Carlson, Contributed review: Source-localization algorithms and applications using time of arrival and time difference of arrival measurements, Review of Scientific Instruments, vol.87, issue.4, p.41502, 2016.

H. Lohrasbipeydeh, T. A. Gulliver, and H. Amindavar, A minimax SDP method for energy based source localization with unknown transmit power, IEEE Wireless Communications Letters, vol.3, issue.4, pp.433-436, 2014.
DOI : 10.1109/lwc.2014.2326879

. David-l-mills, Internet time synchronization: the network time protocol, IEEE Transactions on communications, vol.39, issue.10, pp.1482-1493, 1991.

. David-l-mills, The network computer as precision timekeeper, 1996.

. David-l-mills, Adaptive hybrid clock discipline algorithm for the network time protocol, IEEE/ACM Transactions on Networking (TON), vol.6, issue.5, pp.505-514, 1998.

R. E. Moore, Interval analysis. englewood cliff, 1966.

F. Mourad, H. Snoussi, F. Abdallah, and C. Richard, Anchor-based localization via interval analysis for mobile ad-hoc sensor networks, IEEE Transactions on Signal Processing, vol.57, issue.8, pp.3226-3239, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00450171

F. Mourad, H. Snoussi, M. Kieffer, and C. Richard, Robust interval-based localization algorithms for mobile sensor networks, International Journal of Distributed Sensor Networks, vol.8, issue.1, p.303895, 2011.
DOI : 10.1155/2012/303895
URL : https://hal.archives-ouvertes.fr/hal-00727777

F. Mourad, H. Snoussi, M. Kieffer, and C. Richard, Robust intervalbased localization algorithms for mobile sensor networks, International Journal of Distributed Sensor Networks, 2011.
URL : https://hal.archives-ouvertes.fr/hal-00727777

B. Saad-ahmed-munir, W. Ren, B. Jiao, D. Wang, J. Xie et al., Mobile wireless sensor network: Architecture and enabling technologies for ubiquitous computing, IEEE Conference on Advanced Information Networking and Applications, vol.2, pp.113-120, 2007.

Y. Okumura, E. Ohmori, T. Kawano, and K. Fukuda, Field strength and its variability in VHF and UHF land-mobile radio service, Rev. Elec. Commun. Lab, vol.16, issue.9, pp.825-73, 1968.

, OpenStreetMap contributors. Planet dump retrieved from, 2017.

R. W. Ouyang, A. K. Wong, and C. Lea, Received signal strength-based wireless localization via semidefinite programming: Noncooperative and cooperative schemes, IEEE Transactions on Vehicular Technology, vol.59, issue.3, pp.1307-1318, 2010.

U. Pe?ovi?, J. Mohorko, K. Benki?, and ?. ?u?ej, Effect of hidden nodes in ieee 802.15. 4/zigbee wireless sensor networks, Proceedings of telecommunications forum, pp.161-164, 2009.

L. Pronzato and E. Walter, Robustness to outliers of bounded-error estimators and consequences on experiment design, Bounding Approaches to System Identification, pp.199-212, 1996.

M. R. Rahimi, S. Danaee, and . Bayat, A generalized total least squares algorithm for RSS-based localization with unknown path-loss model parameters, Iranian Conference on Electrical Engineering, pp.521-524, 2016.

L. Schenato and F. Fiorentin, Average timesynch: A consensus-based protocol for clock synchronization in wireless sensor networks, Automatica, vol.47, issue.9, pp.1878-1886, 2011.

L. Schenato and G. Gamba, A distributed consensus protocol for clock synchronization in wireless sensor network, Proceedings of IEEE Conference on Decision and Control, pp.2289-2294, 2007.

O. Simeone and U. Spagnolini, Distributed time synchronization in wireless sensor networks with coupled discrete-time oscillators, EURASIP Journal on Wireless Communications and Networking, issue.1, p.57054, 2007.

O. Simeone, U. Spagnolini, G. Scutari, Y. Bar-ness, ;. Solis et al., Physical-layer distributed synchronization in wireless networks and applications, Conference on Decision and Control, vol.1, pp.2734-2739, 2006.

W. Su, . Ian, and . Akyildiz, Time-diffusion synchronization protocol for wireless sensor networks, IEEE/ACM Transactions on Networking, vol.13, issue.2, pp.384-397, 2005.

K. Sun, P. Ning, and C. Wang, Fault-tolerant cluster-wise clock synchronization for wireless sensor networks, Transactions on Dependable and Secure Computing, vol.2, issue.3, pp.177-189, 2005.

B. Sundararaman, U. Buy, and A. D. Kshemkalyani, Clock synchronization for wireless sensor networks: a survey, Ad hoc networks, vol.3, issue.3, pp.281-323, 2005.

R. Amulya, R. C. Swain, and . Hansdah, A model for the classification and survey of clock synchronization protocols in wsns, Ad Hoc Networks, vol.27, pp.219-241, 2015.

A. Affan, J. S. Syed, and . Heidemann, Time synchronization for high latency acoustic networks, Infocom, vol.6, pp.1-12, 2006.

K. C. Toh, M. J. Todd, and R. H. Tütüncü, SDPT3-a matlab software package for semidefinite programming, version 1.3. Optimization methods and software, vol.11, pp.545-581, 1999.

S. Tomic, M. Beko, and R. Dinis, RSS-based localization in wireless sensor networks using convex relaxation: Noncooperative and cooperative schemes, IEEE Transactions on Vehicular Technology, vol.64, issue.5, pp.2037-2050, 2015.

D. J. Torrieri, Statistical theory of passive location systems, Autonomous robot vehicles, pp.151-166, 1990.

R. M. Vaghefi, M. R. Gholami, R. M. Buehrer, and E. G. Strom, Cooperative received signal strength-based sensor localization with unknown transmit powers, IEEE Transactions on Signal Processing, vol.61, issue.6, pp.1389-1403, 2013.

N. Varanese, U. Spagnolini, and Y. Bar-ness, Distributed frequencylocked loops for wireless networks, IEEE Transactions on Communications, vol.59, issue.12, pp.3440-3451, 2011.

G. Wang and K. Yang, Efficient semidefinite relaxation for energy-based source localization in sensor networks, IEEE International Conference on Acoustics, Speech and Signal Processing, pp.2257-2260, 2009.

J. Wang, Q. Gao, Y. Yu, L. Cheng, P. Wu et al., Robust device-free wireless localization based on differential RSS measurements, IEEE transactions on industrial electronics, vol.60, issue.12, pp.5943-5952, 2013.
DOI : 10.1109/tie.2012.2228145

Y. Wang, F. Nunez, and F. Doyle, Energy-efficient pulse-coupled synchronization strategy design for wireless sensor networks through reduced idle listening, IEEE Transactions on Signal Processing, vol.60, issue.10, pp.5293-5306, 2012.
DOI : 10.1109/tsp.2012.2205685
URL : http://europepmc.org/articles/pmc3845812?pdf=render

J. Wu, L. Jiao, and R. Ding, Average time synchronization in wireless sensor networks by pairwise messages, Computer Communications, vol.35, issue.2, pp.221-233, 2012.
DOI : 10.1016/j.comcom.2011.09.007

Y. Wu, Q. Chaudhari, and E. Serpedin, Clock synchronization of wireless sensor networks, IEEE Signal Processing Magazine, vol.28, issue.1, pp.124-138, 2011.

W. Ye, J. Heidemann, and D. Estrin, An energy-efficient MAC protocol for wireless sensor networks, Proceedings of IEEE Infocom, vol.3, pp.1567-1576, 2002.

J. Yick, B. Mukherjee, and D. Ghosal, Wireless sensor network survey, Computer networks, vol.52, issue.12, pp.2292-2330, 2008.

I. Ziskind and M. Wax, Maximum likelihood localization of multiple sources by alternating projection, IEEE Transactions on Acoustics, Speech, and Signal Processing, vol.36, issue.10, pp.1553-1560, 1988.