  This paper analyzes the localization outage probability (LOP), the
probability that the position error exceeds a given threshold, in randomly
deployed wireless networks. Two typical cases are considered: a mobile agent
uses all the neighboring anchors or select the best pair of anchors for
self-localization. We derive the exact LOP for the former case and tight bounds
for the LOP for the latter case. The comparison between the two cases reveals
the advantage of anchor selection in terms of LOP versus complexity tradeoff,
providing insights into the design of efficient localization systems.
