Distributed algorithms for determining the positions of nodes in an ad-hoc, wireless sensor network are explained in detail.  Details regarding the implementation of such algorithms are also discussed.  Experimentation is performed on networks containing 400 nodes randomly placed within a square area, and resulting error magnitudes are represented as percentages of each node’s radio range.  In scenarios with 5% errors in distance measurements, 5% anchor node population (nodes with known locations), and average connectivity levels between neighbors of 7 nodes, the algorithms are shown to have errors less than 33% on average.  It is also shown that, given an average connectivity of at least 12 nodes and 10% anchors, the algorithms perform well with up to 40% errors in distance measurements.