Before revision:  Compared to other proposed non-interactive localization algorithms, the weighted centroid localization (WCL) scheme uses only  received signal strength information, which makes it simple  and robust to variations in the propagation environment.
After revision:  Compared to other proposed non-interactive localization algorithms, the weighted centroid localization (WCL) scheme uses only received signal strength information, which makes it simple to implement and robust to variations in the propagation environment.