In this thesis two collaborative localization techniques are studied: multidimensional scaling (MDS) and maximum likelihood estimator (MLE). A synthesis of a new location estimation method through a serial integration of these two techniques, such that an estimate is first obtained using MDS and then MLE is employed to fine-tune the MDS solution, was the subject of this research using various simulation and experimental studies. In the simulations, important issues including the effects of sensor node density, reference node density and different deployment strategies of reference nodes were addressed. In the experimental study, the path loss model of indoor environments is developed by determining the environment-specific parameters from the experimental measurement data. Then, the empirical path loss model is employed in the analysis and simulation study of the performance of collaborative localization techniques.