Abstract: A method and apparatus for determining the relative locations of nodes in a wireless network is disclosed. A list of neighboring nodes of a master node of the wireless network is generated and, from this list, a list of independent nodes is generated. An adjacency table for the independent nodes is then generated by examining the neighbors of dependent nodes. Two independent nodes are determined to be adjacent nodes only if they are the only neighboring nodes of a dependent node. Relative locations of nodes in wireless network may be determined from the adjacency table.

Abstract: A set of characteristics of an environment is inferred by obtaining at least a first location estimate of a first device at a first time and a second location estimate of the first device at a second time. A first path traveled (240) by the first device is established based on at least the first location estimate of the first device at the first time and the second location estimate of the first device at the second time. At least one characteristic of the environment is inferred based on the first path traveled by the first device.