Abstract: One embodiment provides a method, including: receiving, from at least one transmitter coupled to an object, a transmission signal, wherein the transmission signal is received at a subset of a plurality of receivers, wherein the plurality of receivers are connected together through a network and have a synchronized clock; identifying, for each of the subset of the plurality of receivers, a time of receipt of the transmission signal and marking the transmission signal with a timestamp corresponding to the time of receipt; determining, using the marked transmission signals, a relative position of the object relative to the receivers; and identifying a location of the object within an environment by correlating the determined relative position of the object to a map of the environment. Other aspects are described and claimed.