Mine tunnels are extensive labyrinths with

irregularly-shaped walls, in which a hundreds of employees are

working on extraction of valuable ores and minerals. Since the

working conditions are extremely hazardous, a (wireless) sensor

network (WSN) is deployed to increase the safety in tunnels.

One of the most important applications of WSN is to track the

personnel, mobile equipment and vehicles. However, the stateof-

the-art algorithms assume that the positions of the sensors

are perfectly known, which is not necessarily true due to the

imprecise placement and/or possible sensor drops.