1. S. Tomic, M. Beko, R. Dinis, “Distributed RSS-based Localization in Wireless Sensor Networks Based on Second-Order Cone Programming,” Sensors (Basel), vol. 14, no. 10, pp. 18410-18432, October 2014. http://dx.doi.org/10.3390/s141018410; PDF
2. S. Tomic, M. Beko, R. Dinis, “RSS-based Localization in Wireless Sensor Networks using Convex Relaxation: Noncooperative and Cooperative Schemes,” IEEE Transactions on Vehicular Technology, vol. 64, no. 5, pp. 2037-2050, May 2015. https://dx.doi.org/10.1109/TVT.2014.2334397; PDF; MATLAB code
3. S. Tomic, M. Beko, R. Dinis, “Distributed RSS-AoA Based Localization with Unknown Transmit Powers,” IEEE Wireless Communications Letters, vol. 5, no. 4, pp. 392-395, August 2016. https://dx.doi.org/10.1109/LWC.2016.2567394; PDF; MATLAB code
4. S. Tomic, M. Beko, R. Dinis, “3-D Target Localization in Wireless Sensor Networks using RSS and AoA Measurements,” IEEE Transactions on Vehicular Technology, vol. 66, no. 4, pp. 3197-3210, April 2017. https://dx.doi.org/10.1109/TVT.2016.2589923; PDF
5. S. Tomic, M. Beko, R. Dinis, P. Montezuma “Distributed Algorithm for Target Localization in Wireless Sensor Networks using RSS and AoA Measurements,” Elsevier, Pervasive and Mobile Computing, vol. 37, pp. 63-77, June 2017. https://dx.doi.org/10.1016/j.pmcj.2016.09.013; PDF
6. S. Tomic, M. Beko, R. Dinis, P. Montezuma, “A Closed-form Solution for RSS/AoA Target Localization by Spherical Coordinates Conversion,” IEEE Wireless Communications Letters, vol. 5, no. 6, pp. 680-683 December 2016. https://dx.doi.org/10.1109/LWC.2016.2615614; PDF; MATLAB code
7. S. Tomic, M. Beko, R. Dinis, M. Tuba, N. Bacanin, “Bayesian Methodology for Target Tracking Using RSS and AoA Measurements,” Physical Communication, vol. 25, part 1, pp. 158-166, December 2017. https://doi.org/10.1016/j.phycom.2017.10.005; PDF; MATLAB code
8. S. Tomic, M. Beko, R. Dinis, J. P. Gomes, “Target Tracking With Sensor Navigation Using Coupled RSS and AoA Measurements,” Sensors, vol. 17, no. 11, pp. 2690—2711, November 2017. https://dx.doi.org/10.3390/s17112690; PDF
9. S. Tomic, M. Beko, R. Dinis, P. Montezuma, “A Robust Bisection-based Estimator for TOA-based Target Localization in NLOS Environments,” IEEE Communications Letters, vol. 21, no. 11, pp. 2488-2491, November 2017. https://dx.doi.org/10.1109/LCOMM.2017.2737985; PDF; MATLAB code
10. S. Tomic, M. Beko, “A Bisection-based Approach for Exact Target Localization in NLOS Environments,” Signal Processing, vol. 143, pp. 328-335, February 2018. https://dx.doi.org/10.1016/j.sigpro.2017.09.019; PDF
11. S. Tomic, M. Beko, “Exact Robust Solution to TW-ToA-based Target Localization Problem with Clock Imperfections,” IEEE Signal Processing Letters, vol. 25, no. 4, pp. 531—535, April 2018. https://dx.doi.org/10.1109/LSP.2018.2810829; PDF
12. S. Tomic, M. Beko, R. Dinis, L. Bernardo, “On Target Localization Using Combined RSS and AoA Measurements,” Sensors, vol. 18, no. 4, pp. 1—25, April 2018. https://dx.doi.org/10.3390/s18041266; PDF
13. S. Correia, M. Beko, L. Cruz, S. Tomic, “Elephant Herding Optimization for Energy-Based Localization,” Sensors, vol. 18, no. 4, pp. 1—14, August 2018. https://doi.org/10.3390/s18092849; PDF
14. S. Tomic, M. Beko, M. Tuba, V. M. F. Correia, “Target Localization in NLOS Environments Using RSS and TOA Measurements,” IEEE Wireless Communications Letters, vol. 7, no. 6, pp. 1062—1065, December 2018. https://dx.doi.org/10.1109/LWC.2018.2858248; PDF; MATLAB code
15. S. Tomic, M. Beko, “A Robust NLOS Bias Mitigation Technique for RSS-TOA-based Target Localization,” IEEE Signal Processing Letters, vol. 26, no. 1, pp. 64—68, Jan. 2019. https://dx.doi.org/10.1109/LSP.2018.2879720; PDF; MATLAB code
16. S. Tomic, M. Beko, “Target Localization via Integrated and Segregated Ranging Based on RSS and TOA Measurements,” Sensors, vol. 19, no. 2, pp. 1—20, January 2019. https://doi.org/10.3390/s19020230; PDF
17. S. Tomic, M. Beko, M. Tuba, “A Linear Estimator for Network Localization Using Integrated RSS and AOA Measurements,” IEEE Signal Processing Letters, vol. 26, no. 3, pp. 405—409, March 2019. https://doi.org/10.1109/LSP.2019.2892225; PDF; MATLAB code
18. D. Pedro, S. Tomic, L. Bernardo, M. Beko, R. Oliveira, R. Dinis, P. Pinto, P. Amaral, “Algorithms for Estimating the Location of Remote Nodes Using Smartphones,” IEEE Access, vol. 17, pp. 33713—33727, March 2019. https://doi.org/10.1109/ACCESS.2019.2904241; PDF
19. S. Tomic, M. Beko, R. Dinis, P. Montezuma, “Estimating Directional Data From Network Topology for Improving Tracking Performance,” Journal of Sensor and Actuator Networks, vol. 2019, no. 8, pp. 1—20, May 2019. https://doi.org/10.3390/jsan8010030; PDF; MATLAB code
20. S. Tomic, M. Beko, L. M. Camarinha-Matos, L. B. Oliveira, “Distributed Localization with Complemented RSS and AOA Measurements: Theory and Methods,” Applied Sciences, December 2019. vol. 10, no. 1, pp. 1—22, December 2019. https://doi.org/10.3390/app10010272; PDF
21. S. Tomic, M. Beko, “A Geometric Approach for Distributed Multi-hop Target Localization in Cooperative Networks,” IEEE Transactions on Vehicular Technology, vol. 69, no. 1, pp. 914—919, January 2020. https://doi.org/10.1109/TVT.2019.2952715; PDF; MATLAB code
22. S. Tomic, M. Beko, “Special Issue: Localization in Wireless Sensor Networks,” Journal of Sensor and Actuator Networks, vol. 2020, no. 9, pp. 1—4, February 2020. https://doi.org/10.3390/jsan9010014; PDF
23. S. Correia, M. Beko, S. Tomic, L. Cruz, “Energy-Based Acoustic Localization by Improved Elephant Herding Optimization,” IEEE Access, vol. 8, no. 1, pp. 28548—28559, December 2020. https://doi.org/10.1109/ACCESS.2020.2971787; PDF
24. S. Tomic, M. Beko, M. Tuba, “Exploiting Orientation Information to Improve Range-Based Localization Accuracy,” IEEE Access, vol. 8, no. 1, pp. 44041—44047, December 2020. https://doi.org/10.1109/ACCESS.2020.2978298; PDF; MATLAB code
25. S. Correia, J. Fé, S. Tomic, M. Beko, “Development of a Test-bench for Evaluating the Embedded Implementation of the Improved Elephant Herding Optimization Algorithm Applied to Energy-Based Acoustic Localization,” Computers, vol. 9, no. 4, pp. 1—19, November 2020. https://doi.org/10.3390/computers9040087; PDF
26. L. A. Caceres Najarro, I. Song, S. Tomic, K. Kim, “Fast Localization with Unknown Transmit Power and Path-Loss Exponent in WSNs Based on RSS Measurements,” IEEE Communications Letters, vol. 24, no. 12, pp. 2756—2760, December 2020. https://doi.org/10.1109/LCOMM.2020.3016710; PDF
27. M. Costa, S. Tomic, M. Beko, “An SOCP Estimator for Hybrid RSS and AOA Target Localization in Sensor Networks,” Sensors, vol. 21, no. 5, pp. 1—12, March 2021. https://doi.org/10.3390/s21051731; PDF; MATLAB code
28. S. Correia, S. Tomic, M. Beko, “A Feed-forward Neural Network Approach for Energy-Based Acoustic Source Localization,” Journal of Sensor and Actuator Networks, vol. 10, no. 2, pp. 1—16, April 2021. https://doi.org/10.3390/jsan10020029; PDF
29. M. Beko, S. Tomic, “Towards Secure Localization in Randomly Deployed Wireless Networks,” IEEE Internet of Things Journal, vol. 8, no. 24, pp. 17436—17448, December 2021. https://doi.org/10.1109/JIOT.2021.3078216; PDF; MATLAB code
30. J. P. Matos-Carvalho, R. Santos, S. Tomic, M. Beko, “GTRS-based Algorithm for UAV Navigation in Indoor Environments Employing Range Measurements and Odometry,” IEEE Access, vol. 9, pp. 89120—89132, June 2021. https://doi.org/10.1109/ACCESS.2021.3089900; PDF; MATLAB code
31. S. Tomic, M. Beko, “A New Perspective on Range and Directional Localization Problem,” IEEE Open Journal of Vehicular Technology, vol. 2, pp. 337—344, July 2021. https://doi.org/10.1109/OJVT.2021.3094180; PDF; MATLAB code
32. S. Tomic, M. Beko, “Detecting Distance-spoofing Attacks in Arbitrarily-deployed Wireless Networks,” IEEE Transactions on Vehicular Technology, vol. 71, no. 4, pp. 4383—4395, April 2022. https://doi.org/10.1109/TVT.2022.3148199; PDF; MATLAB code
33. J. Fé, S. Correia, S. Tomic, M. Beko, “Swarm Optimization for Energy-based Acoustic Source Localization: A Comprehensive Study,” Sensors, vol. 22, no. 5, pp. 1—37, February 2022. https://doi.org/10.3390/s22051894; PDF
34. R. Santos, J. P. Matos-Carvalho, S. Tomic, M. Beko, “WLS Algorithm for UAV Navigation in Satellite-less Environments,” IET Wireless Sensor Systems, vol. 12, no. 3—4, pp. 93—102, June-August 2022. https://doi.org/10.1049/wss2.12041; PDF; MATLAB code
35. L. A. Caceres Najarro, I. Song, S. Tomic, Y. Noh, K. Kim, “Evolutionary Tracking Algorithm based on Combined Received Signal Strength and Angle of Arrival Measurements,” IEEE Sensors Journal, vol. 23, no. 19, 23734—23743, October 2023. https://doi.org/10.1109/JSEN.2023.3308913; PDF
36. S. Tomic, M. Beko, “A Min-max Optimization-based Approach for Secure Localization in Wireless Networks,” IEEE Transactions on Vehicular Technology, vol. 73, no. 3, 4151—4161, March 2024. https://doi.org/10.1109/TVT.2023.3325063; PDF; MATLAB code
37. S. Tomic, M. Beko, “Trustworthy Target Localization via ADMM in the Presence of Malicious Nodes,” IEEE Transactions on Vehicular Technology, vol. 73, no. 5, pp. 7250—7261, May 2024. https://doi.org/10.1109/TVT.2023.3346476; PDF; MATLAB code
38. R. Serras Santos, N. Fachada, J. P. Matos-Carvalho, S. Tomic, M. Beko, “AutoNAV: A Python Package for Simulating UAV Navigation in Satellite-less Environments,” SoftwareX, vol. 27, pp. 1—12, September 2024. https://doi.org/10.1016/j.softx.2024.101782; PDF; Code v1.0.3
39. S. Tomic, M. Beko, Y. Tsado, B. Adebisi, A. Oladipo, “Reinforcing Localization Credibility Through Convex Optimization,” IEEE Signal Processing Letters, vol. 32, pp. 3445—3449, August 2025. https://doi.org/10.1109/LSP.2025.3601835; PDF; MATLAB code
40. R. Santos, T. Brogueira, S. Tomic, J. P. Matos-Carvalho, M. Beko, “Towards Autonomous Target Navigation in Indoor Environments via Wireless Sensing,” to appear in IEEE Open Journal of Vehicular Technology, September 2025. https://doi.org/10.1109/OJVT.2025.3610180; PDF; MATLAB code
41. S. Tomic, M. Beko, D. Vukobratovic, S. Krco, M. Costa, “Voting Scheme to Strengthen Localization Security in Randomly-deployed Wireless Networks,” Frontiers in Sensors, vol. 7, pp. 1—15, January 2026. https://doi.org/10.3389/fsens.2026.1730414; PDF; MATLAB code
42. S. Tomic, “Secure AoA-based Localization in the Presence of Malicious Nodes,” to appear in IEEE Internet of Things Journal, January 2026. https://doi.org/10.1109/JIOT.2026.3652835; PDF; MATLAB code
43. S. Tomic, J. P. Matos-Carvalho, M. Beko, C. T. Calafate, “A Closed-form Solution for Weight Optimization in Fully-connected Feed-forward Neural Networks,” submitted to Frontiers in Computer Science, October 2025. arXiv
44. R. Santos, J. P. Matos-Carvalho, S. Tomic, M. Beko, “A Hybrid YOLO WLS Navigation Framework for UAV-Based Indoor Emergency Evacuation,” submitted to Image and Vision Computing, December 2025.