Abstract: A method may include receiving, by a first computing device, a positional message from a second computing device. The positional message may indicate a position and an accumulated error of the indicated position corresponding to the second computing device. The accumulated error of the second computing device may be compared to an accumulated error of the first computing device in which the first and the second accumulated errors respectively represent degrees of uncertainty regarding respective positions and orientations of the first and second computing devices that increase over time. Responsive to the second accumulated error being less than the first accumulated error, a distance and an orientation of the first computing device relative to the second computing device may be assessed and a position of the first computing device in the environment may be updated based on the distance and the orientation.