An RF transceiver of a first network device respectively receives first, second, and third coordinates of second, third, and fourth network devices. A control module determines first, second, and third delay periods respectively corresponding to transmissions between first and second, first and third, and first and fourth network devices. The control module determines first, second, and third distances between the first and second, first and third, and first and fourth network devices respectively based on the first, second, and third delay periods. The control module determines a location of the first network device based on the first, second, and third distances and the first, second, and third coordinates.