A system and corresponding method using a cooperative localization technique for self identifying a location of a wireless device in a wireless network is presented. The system may estimate an arbitrary signal metric as a function of a signal received by the wireless device from the at least one other wireless device in the wireless network. The system may also convert at least one belief representing a distribution of at least one possible location of the at least one other wireless device to generate at least one converted belief. The system may further determine a self-belief as a function of the at least one converted belief and identify a self location, as a function of the self-belief, within the wireless network.